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Separable reversible data hiding in homomorphic encrypted domain using POB number system In this paper, a novel separable reversible data hiding in homomorphic encrypted images (RDHEI) using POB number system is proposed. The frame of the proposed RDHEI includes three parties: content owner, data hider, and receiver. The content owner divides original image contents into a series of non-overlapping equal-size 2 x 2 blocks, and encrypts all pixels in each block with the same key. The encryption process is carried out in an additive homomorphism manner. The data hider divides the encrypted images into the same size blocks as the encryption phase, and further categories all of the obtained blocks into two sets according to the corresponding block entropy. The embedding processes of the two sets are performed through utilizing permutation ordered binary (POB) number system. For the set with smaller entropies, all pixels in addition to the first pixel in each block are compressed by the POB number system; for the set with larger entropies, only u LSBs of all pixels are compressed in order to vacate room for embedding. The receiver can conduct image decryption, data extraction, and image reconstruction in a separable manner. Experimental results verify the superiority of the proposed method.

Probabilistic encryption A new probabilistic model of data encryption is introduced. For this model, under suitable complexity assumptions, it is proved that extracting any information about the cleartext from the cyphertext is hard on the average for an adversary with polynomially bounded computational resources. The proof holds for any message space with any probability distribution. The first implementation of this model is presented. The security of this implementation is proved under the interactability assumptin of deciding Quadratic Residuosity modulo composite numbers whose factorization is unknown.

Secure and privacy preserving keyword searching for cloud storage services Cloud storage services enable users to remotely access data in a cloud anytime and anywhere, using any device, in a pay-as-you-go manner. Moving data into a cloud offers great convenience to users since they do not have to care about the large capital investment in both the deployment and management of the hardware infrastructures. However, allowing a cloud service provider (CSP), whose purpose is mainly for making a profit, to take the custody of sensitive data, raises underlying security and privacy issues. To keep user data confidential against an untrusted CSP, a natural way is to apply cryptographic approaches, by disclosing the data decryption key only to authorized users. However, when a user wants to retrieve files containing certain keywords using a thin client, the adopted encryption system should not only support keyword searching over encrypted data, but also provide high performance. In this paper, we investigate the characteristics of cloud storage services and propose a secure and privacy preserving keyword searching (SPKS) scheme, which allows the CSP to participate in the decipherment, and to return only files containing certain keywords specified by the users, so as to reduce both the computational and communication overhead in decryption for users, on the condition of preserving user data privacy and user querying privacy. Performance analysis shows that the SPKS scheme is applicable to a cloud environment.

Integrating Encryption and Marking for Remote Sensing Image Based on Orthogonal Decomposition For the special characters, remote sensing image has higher requirements not only in the security but also in the management; it requires not only the active encryption during storage and transmission for preventing information leakage but also the marking technology to prevent illegal usage as well as copyright protection or even source tracing. Therefore, this paper proposes to integrate encryption and marking technology by the independence and fusion of orthogonal decomposition for the comprehensive security protection of remote sensing image. Under the proposed scheme, encryption and marking technology can achieve the operation independence and content mergence; moreover, there is no special requirement in selecting encryption and marking algorithms. It makes up the shortage of recent integration of encryption and watermarking based on spatial scrambling in applicability and security. According to the experimental results, integration of encryption and marking technology based on orthogonal decomposition satisfies the common constraints of encryption, and marking technology, furthermore, has little impact on remote sensing image data characters and later applications.

Separable reversible data hiding in encrypted images via adaptive embedding strategy with block selection. •An adaptive, separable reversible data hiding scheme in encrypted image is proposed.•Analogues stream-cipher and block permutation are used to encrypt original image.•Classification and selection for encrypted blocks are conducted during embedding.•An accurate prediction strategy was employed to achieve perfect image recovery.•Our scheme has better rate-distortion performance than some state-of-the-art schemes.

Image Feature Extraction in Encrypted Domain With Privacy-Preserving SIFT Privacy has received considerable attention but is still largely ignored in the multimedia community. Consider a cloud computing scenario where the server is resource-abundant, and is capable of finishing the designated tasks. It is envisioned that secure media applications with privacy preservation will be treated seriously. In view of the fact that scale-invariant feature transform (SIFT) has been widely adopted in various fields, this paper is the first to target the importance of privacy-preserving SIFT (PPSIFT) and to address the problem of secure SIFT feature extraction and representation in the encrypted domain. As all of the operations in SIFT must be moved to the encrypted domain, we propose a privacy-preserving realization of the SIFT method based on homomorphic encryption. We show through the security analysis based on the discrete logarithm problem and RSA that PPSIFT is secure against ciphertext only attack and known plaintext attack. Experimental results obtained from different case studies demonstrate that the proposed homomorphic encryption-based privacy-preserving SIFT performs comparably to the original SIFT and that our method is useful in SIFT-based privacy-preserving applications.

Distinctive Image Features from Scale-Invariant Keypoints This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene. The features are invariant to image scale and rotation, and are shown to provide robust matching across a substantial range of affine distortion, change in 3D viewpoint, addition of noise, and change in illumination. The features are highly distinctive, in the sense that a single feature can be correctly matched with high probability against a large database of features from many images. This paper also describes an approach to using these features for object recognition. The recognition proceeds by matching individual features to a database of features from known objects using a fast nearest-neighbor algorithm, followed by a Hough transform to identify clusters belonging to a single object, and finally performing verification through least-squares solution for consistent pose parameters. This approach to recognition can robustly identify objects among clutter and occlusion while achieving near real-time performance.

An introduction to ROC analysis Receiver operating characteristics (ROC) graphs are useful for organizing classifiers and visualizing their performance. ROC graphs are commonly used in medical decision making, and in recent years have been used increasingly in machine learning and data mining research. Although ROC graphs are apparently simple, there are some common misconceptions and pitfalls when using them in practice. The purpose of this article is to serve as an introduction to ROC graphs and as a guide for using them in research.

Toward Massive Machine Type Communications in Ultra-Dense Cellular IoT Networks: Current Issues and Machine Learning-Assisted Solutions The ever-increasing number of resource-constrained machine-type communication (MTC) devices is leading to the critical challenge of fulfilling diverse communication requirements in dynamic and ultra-dense wireless environments. Among different application scenarios that the upcoming 5G and beyond cellular networks are expected to support, such as enhanced mobile broadband (eMBB), massive machine type communications (mMTCs), and ultra-reliable and low latency communications (URLLCs), the mMTC brings the unique technical challenge of supporting a huge number of MTC devices in cellular networks, which is the main focus of this paper. The related challenges include quality of service (QoS) provisioning, handling highly dynamic and sporadic MTC traffic, huge signalling overhead, and radio access network (RAN) congestion. In this regard, this paper aims to identify and analyze the involved technical issues, to review recent advances, to highlight potential solutions and to propose new research directions. First, starting with an overview of mMTC features and QoS provisioning issues, we present the key enablers for mMTC in cellular networks. Along with the highlights on the inefficiency of the legacy random access (RA) procedure in the mMTC scenario, we then present the key features and channel access mechanisms in the emerging cellular IoT standards, namely, LTE-M and narrowband IoT (NB-IoT). Subsequently, we present a framework for the performance analysis of transmission scheduling with the QoS support along with the issues involved in short data packet transmission. Next, we provide a detailed overview of the existing and emerging solutions toward addressing RAN congestion problem, and then identify potential advantages, challenges, and use cases for the applications of emerging machine learning (ML) techniques in ultra-dense cellular networks. Out of several ML techniques, we focus on the application of low-complexity <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning approach in the mMTC scenario along with the recent advances toward enhancing its learning performance and convergence. Finally, we discuss some open research challenges and promising future research directions.

Priced Oblivious Transfer: How to Sell Digital Goods We consider the question of protecting the privacy of customers buying digital goods. More specifically, our goal is to allow a buyer to purchase digital goods from a vendor without letting the vendor learn what, and to the extent possible also when and how much, it is buying. We propose solutions which allow the buyer, after making an initial deposit, to engage in an unlimited number of priced oblivious-transfer protocols, satisfying the following requirements: As long as the buyer's balance contains sufficient funds, it will successfully retrieve the selected item and its balance will be debited by the item's price. However, the buyer should be unable to retrieve an item whose cost exceeds its remaining balance. The vendor should learn nothing except what must inevitably be learned, namely, the amount of interaction and the initial deposit amount (which imply upper bounds on the quantity and total price of all information obtained by the buyer). In particular, the vendor should be unable to learn what the buyer's current balance is or when it actually runs out of its funds. The technical tools we develop, in the process of solving this problem, seem to be of independent interest. In particular, we present the first one-round (two-pass) protocol for oblivious transfer that does not rely on the random oracle model (a very similar protocol was independently proposed by Naor and Pinkas [21]). This protocol is a special case of a more general "conditional disclosure" methodology, which extends a previous approach from [11] and adapts it to the 2-party setting.

Minimum acceleration criterion with constraints implies bang-bang control as an underlying principle for optimal trajectories of arm reaching movements. Rapid arm-reaching movements serve as an excellent test bed for any theory about trajectory formation. How are these movements planned? A minimum acceleration criterion has been examined in the past, and the solution obtained, based on the Euler-Poisson equation, failed to predict that the hand would begin and end the movement at rest (i.e., with zero acceleration). Therefore, this criterion was rejected in favor of the minimum jerk, which was proved to be successful in describing many features of human movements. This letter follows an alternative approach and solves the minimum acceleration problem with constraints using Pontryagin's minimum principle. We use the minimum principle to obtain minimum acceleration trajectories and use the jerk as a control signal. In order to find a solution that does not include nonphysiological impulse functions, constraints on the maximum and minimum jerk values are assumed. The analytical solution provides a three-phase piecewise constant jerk signal (bang-bang control) where the magnitude of the jerk and the two switching times depend on the magnitude of the maximum and minimum available jerk values. This result fits the observed trajectories of reaching movements and takes into account both the extrinsic coordinates and the muscle limitations in a single framework. The minimum acceleration with constraints principle is discussed as a unifying approach for many observations about the neural control of movements.

Online Prediction of Driver Distraction Based on Brain Activity Patterns This paper presents a new computational framework for early detection of driver distractions (map viewing) using brain activity measured by electroencephalographic (EEG) signals. Compared with most studies in the literature, which are mainly focused on the classification of distracted and nondistracted periods, this study proposes a new framework to prospectively predict the start and end of a distraction period, defined by map viewing. The proposed prediction algorithm was tested on a data set of continuous EEG signals recorded from 24 subjects. During the EEG recordings, the subjects were asked to drive from an initial position to a destination using a city map in a simulated driving environment. The overall accuracy values for the prediction of the start and the end of map viewing were 81% and 70%, respectively. The experimental results demonstrated that the proposed algorithm can predict the start and end of map viewing with relatively high accuracy and can be generalized to individual subjects. The outcome of this study has a high potential to improve the design of future intelligent navigation systems. Prediction of the start of map viewing can be used to provide route information based on a driver's needs and consequently avoid map-viewing activities. Prediction of the end of map viewing can be used to provide warnings for potential long map-viewing durations. Further development of the proposed framework and its applications in driver-distraction predictions are also discussed.

A blind medical image watermarking: DWT-SVD based robust and secure approach for telemedicine applications. In this paper, a blind image watermarking scheme based on discrete wavelet transform (DWT) and singular value decomposition (SVD) is proposed. In this scheme, DWT is applied on ROI (region of interest) of the medical image to get different frequency subbands of its wavelet decomposition. On the low frequency subband LL of the ROI, block-SVD is applied to get different singular matrices. A pair of elements with similar values is identified from the left singular value matrix of these selected blocks. The values of these pairs are modified using certain threshold to embed a bit of watermark content. Appropriate threshold is chosen to achieve the imperceptibility and robustness of medical image and watermark contents respectively. For authentication and identification of original medical image, one watermark image (logo) and other text watermark have been used. The watermark image provides authentication whereas the text data represents electronic patient record (EPR) for identification. At receiving end, blind recovery of both watermark contents is performed by a similar comparison scheme used during the embedding process. The proposed algorithm is applied on various groups of medical images like X-ray, CT scan and mammography. This scheme offers better visibility of watermarked image and recovery of watermark content due to DWT-SVD combination. Moreover, use of Hamming error correcting code (ECC) on EPR text bits reduces the BER and thus provides better recovery of EPR. The performance of proposed algorithm with EPR data coding by Hamming code is compared with the BCH error correcting code and it is found that later one perform better. A result analysis shows that imperceptibility of watermarked image is better as PSNR is above 43 dB and WPSNR is above 52 dB for all set of images. In addition, robustness of the scheme is better than existing scheme for similar set of medical images in terms of normalized correlation coefficient (NCC) and bit-error-rate (BER). An analysis is also carried out to verify the performance of the proposed scheme for different size of watermark contents (image and EPR data). It is observed from analysis that the proposed scheme is also appropriate for watermarking of color image. Using proposed scheme, watermark contents are extracted successfully under various noise attacks like JPEG compression, filtering, Gaussian noise, Salt and pepper noise, cropping, filtering and rotation. Performance comparison of proposed scheme with existing schemes shows proposed scheme has better robustness against different types of attacks. Moreover, the proposed scheme is also robust under set of benchmark attacks known as checkmark attacks.

Energy harvesting algorithm considering max flow problem in wireless sensor networks. In Wireless Sensor Networks (WSNs), sensor nodes with poor energy always have bad effect on the data rate or max flow. These nodes are called bottleneck nodes. In this paper, in order to increase the max flow, we assume an energy harvesting WSNs environment to investigate the cooperation of multiple Mobile Chargers (MCs). MCs are mobile robots that use wireless charging technology to charge sensor nodes in WSNs. This means that in energy harvesting WSNs environments, sensor nodes can obtain energy replenishment by using MCs or collecting energy from nature by themselves. In our research, we use MCs to improve the energy of the sensor nodes by performing multiple rounds of unified scheduling, and finally achieve the purpose of increasing the max flow at sinks. Firstly, we model this problem as a Linear Programming (LP) to search the max flow in a round of charging scheduling and prove that the problem is NP-hard. In order to solve the problem, we propose a heuristic approach: deploying MCs in units of paths with the lowest energy node priority. To reduce the energy consumption of MCs and increase the charging efficiency, we also take the optimization of MCs’ moving distance into our consideration. Finally, we extend the method to multiple rounds of scheduling called BottleNeck. Simulation results show that Bottleneck performs well at increasing max flow.

Energy-Efficient Associations for IoT networks with UAV: A Regret Matching Based Approach Energy-Efficiency (EE) is an important issue in the IoT system. Unmanned Aerial Vehicles (UAVs) have been used as aggregators to collect data from IoT ground devices, and provide an energy-efficient and cost-effective solution. In this paper, we aim at maximizing the overall EE of the IoT network, by finding to most suitable IoT-UAV association. We formulate the problem as a non-cooperative game where IoT players choose the UAVs that minimize their transmit power by learning their best strategy using an approach based on regret-matching learning. Simulations results show a fast convergence to an optimal solution that provides a low average total transmit power and maximizes the IoT system's overall EE.

Interior point methods 25 years later. Interior point methods for optimization have been around for more than 25 years now. Their presence has shaken up the field of optimization. Interior point methods for linear and (convex) quadratic programming display several features which make them particularly attractive for very large scale optimization. Among the most impressive of them are their low-degree polynomial worst-case complexity and an unrivalled ability to deliver optimal solutions in an almost constant number of iterations which depends very little, if at all, on the problem dimension. Interior point methods are competitive when dealing with small problems of dimensions below one million constraints and variables and are beyond competition when applied to large problems of dimensions going into millions of constraints and variables. In this survey we will discuss several issues related to interior point methods including the proof of the worst-case complexity result, the reasons for their amazingly fast practical convergence and the features responsible for their ability to solve very large problems. The ever-growing sizes of optimization problems impose new requirements on optimization methods and software. In the final part of this paper we will therefore address a redesign of interior point methods to allow them to work in a matrix-free regime and to make them well-suited to solving even larger problems. (C) 2011 Elsevier B.V. All rights reserved.

Genetic Algorithms in Wireless Networking: Techniques, Applications, and Issues. In recent times, wireless access technology is becoming increasingly commonplace due to the ease of operation and installation of untethered wireless media. The design of wireless networking is challenging due to the highly dynamic environmental condition that makes parameter optimization a complex task. Due to the dynamic, and often unknown, operating conditions, modern wireless networking standards increasingly rely on machine learning and artificial intelligence algorithms. Genetic algorithms (GAs) provide a well-established framework for implementing artificial intelligence tasks such as classification, learning, and optimization. GAs are well known for their remarkable generality and versatility and have been applied in a wide variety of settings in wireless networks. In this paper, we provide a comprehensive survey of the applications of GAs in wireless networks. We provide both an exposition of common GA models and configuration and provide a broad-ranging survey of GA techniques in wireless networks. We also point out open research issues and define potential future work. While various surveys on GAs exist in the literature, our paper is the first paper, to the best of our knowledge, which focuses on their application in wireless networks.

Fundamentals of the Downlink Green Coverage and Energy Efficiency in Heterogeneous Networks. This paper studies the proposed green (energy-efficient) coverage probability, link and network energy efficiencies in the downlink of a heterogeneous cellular network (HetNet) consisting of $K$ independent Poisson point processes of base stations (BSs). The important statistical properties of the universal (general) cell association functions are first studied, and the cell load statistics for power-law cell association functions, which can characterize the accurate void cell probability of a BS in every tier, are also derived. A simple and feasible green channel-aware cell association (GCA) scheme is proposed and the green coverage probability is also proposed for any particular cell association scheme, such as the maximum received power association (MRPA) and the nearest BS association (NBA) schemes. Then, the link and network energy efficiencies are proposed to characterize the mean spectrum efficiency per unit power consumption for a BS and the mean area spectrum efficiency for the HetNet, respectively. All the tight bounds on the green coverage probability, link, and network energy efficiencies for the GCA, MRPA, and NBA schemes are found. They are theoretically shown to pose the fundamental maximum limits on the link and network energy efficiencies achieved by any other cell association schemes, and such a fact is validated by numerical results as well.

Multiple UAVs as Relays: Multi-Hop Single Link Versus Multiple Dual-Hop Links. Unmanned aerial vehicles (UAVs) have found many important applications in communications. They can serve as either aerial base stations or mobile relays to improve the quality of services. In this paper, we study the use of multiple UAVs in relaying. Considering two typical uses of multiple UAVs as relays that form either a single multi-hop link or multiple dual-hop links, we first optimize the pl...

Millimeter Wave Cellular Wireless Networks: Potentials and Challenges. Millimeter-wave (mmW) frequencies between 30 and 300 GHz are a new frontier for cellular communication that offers the promise of orders of magnitude greater bandwidths combined with further gains via beamforming and spatial multiplexing from multielement antenna arrays. This paper surveys measurements and capacity studies to assess this technology with a focus on small cell deployments in urban e...

Footprints: history-rich tools for information foraging Inspired by Hill and Hollans original work [7], we have beendeveloping a theory of interaction history and building tools toapply this theory to navigation in a complex information space. Wehave built a series of tools - map, paths, annota- tions andsignposts - based on a physical-world navigation metaphor. Thesetools have been in use for over a year. Our user study involved acontrolled browse task and showed that users were able to get thesame amount of work done with significantly less effort.

Very Deep Convolutional Networks for Large-Scale Image Recognition. In this work we investigate the effect of the convolutional network depth on its accuracy in the large-scale image recognition setting. Our main contribution is a thorough evaluation of networks of increasing depth using an architecture with very small (3x3) convolution filters, which shows that a significant improvement on the prior-art configurations can be achieved by pushing the depth to 16-19 weight layers. These findings were the basis of our ImageNet Challenge 2014 submission, where our team secured the first and the second places in the localisation and classification tracks respectively. We also show that our representations generalise well to other datasets, where they achieve state-of-the-art results. We have made our two best-performing ConvNet models publicly available to facilitate further research on the use of deep visual representations in computer vision.

Chimp optimization algorithm. •A novel optimizer called Chimp Optimization Algorithm (ChOA) is proposed.•ChOA is inspired by individual intelligence and sexual motivation of chimps.•ChOA alleviates the problems of slow convergence rate and trapping in local optima.•The four main steps of Chimp hunting are implemented.

Space-time modeling of traffic flow. This paper discusses the application of space-time autoregressive integrated moving average (STARIMA) methodology for representing traffic flow patterns. Traffic flow data are in the form of spatial time series and are collected at specific locations at constant intervals of time. Important spatial characteristics of the space-time process are incorporated in the STARIMA model through the use of weighting matrices estimated on the basis of the distances among the various locations where data are collected. These matrices distinguish the space-time approach from the vector autoregressive moving average (VARMA) methodology and enable the model builders to control the number of the parameters that have to be estimated. The proposed models can be used for short-term forecasting of space-time stationary traffic-flow processes and for assessing the impact of traffic-flow changes on other parts of the network. The three-stage iterative space-time model building procedure is illustrated using 7.5min average traffic flow data for a set of 25 loop-detectors located at roads that direct to the centre of the city of Athens, Greece. Data for two months with different traffic-flow characteristics are modelled in order to determine the stability of the parameter estimation.

A simplified dual neural network for quadratic programming with its KWTA application. The design, analysis, and application of a new recurrent neural network for quadratic programming, called simplified dual neural network, are discussed. The analysis mainly concentrates on the convergence property and the computational complexity of the neural network. The simplified dual neural network is shown to be globally convergent to the exact optimal solution. The complexity of the neural network architecture is reduced with the number of neurons equal to the number of inequality constraints. Its application to k-winners-take-all (KWTA) operation is discussed to demonstrate how to solve problems with this neural network.

Understanding Taxi Service Strategies From Taxi GPS Traces Taxi service strategies, as the crowd intelligence of massive taxi drivers, are hidden in their historical time-stamped GPS traces. Mining GPS traces to understand the service strategies of skilled taxi drivers can benefit the drivers themselves, passengers, and city planners in a number of ways. This paper intends to uncover the efficient and inefficient taxi service strategies based on a large-scale GPS historical database of approximately 7600 taxis over one year in a city in China. First, we separate the GPS traces of individual taxi drivers and link them with the revenue generated. Second, we investigate the taxi service strategies from three perspectives, namely, passenger-searching strategies, passenger-delivery strategies, and service-region preference. Finally, we represent the taxi service strategies with a feature matrix and evaluate the correlation between service strategies and revenue, informing which strategies are efficient or inefficient. We predict the revenue of taxi drivers based on their strategies and achieve a prediction residual as less as 2.35 RMB/h,1 which demonstrates that the extracted taxi service strategies with our proposed approach well characterize the driving behavior and performance of taxi drivers.

An indoor localization solution using Bluetooth RSSI and multiple sensors on a smartphone. In this paper, we propose an indoor positioning system using a Bluetooth receiver, an accelerometer, a magnetic field sensor, and a barometer on a smartphone. The Bluetooth receiver is used to estimate distances from beacons. The accelerometer and magnetic field sensor are used to trace the movement of moving people in the given space. The horizontal location of the person is determined by received signal strength indications (RSSIs) and the traced movement. The barometer is used to measure the vertical position where a person is located. By combining RSSIs, the traced movement, and the vertical position, the proposed system estimates the indoor position of moving people. In experiments, the proposed approach showed excellent performance in localization with an overall error of 4.8%.

A Hierarchical Architecture Using Biased Min-Consensus for USV Path Planning This paper proposes a hierarchical architecture using the biased min-consensus (BMC) method, to solve the path planning problem of unmanned surface vessel (USV). We take the fixed-point monitoring mission as an example, where a series of intermediate monitoring points should be visited once by USV. The whole framework incorporates the low-level layer planning the standard path between any two intermediate points, and the high-level fashion determining their visiting sequence. First, the optimal standard path in terms of voyage time and risk measure is planned by the BMC protocol, given that the corresponding graph is constructed with node state and edge weight. The USV will avoid obstacles or keep a certain distance safely, and arrive at the target point quickly. It is proven theoretically that the state of the graph will converge to be stable after finite iterations, i.e., the optimal solution can be found by BMC with low calculation complexity. Second, by incorporating the constraint of intermediate points, their visiting sequence is optimized by BMC again with the reconstruction of a new virtual graph based on the former planned results. The extensive simulation results in various scenarios also validate the feasibility and effectiveness of our method for autonomous navigation.

Fuzzy-Based Multierror Constraint Control for Switched Nonlinear Systems and Its Applications. In this paper, a framework of adaptive control for a switched nonlinear system with multiple prescribed performance bounds is established using an improved dwell time technique. Since the prescribed performance bounds for subsystems are different from each other, the different coordinate transformations have to be tackled when the system is transformed, which have not been encountered in some swit...

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Driver Behavior Analysis for Safe Driving: A Survey Driver drowsiness and distraction are two main reasons for traffic accidents and the related financial losses. Therefore, researchers have been working for more than a decade on designing driver inattention monitoring systems. As a result, several detection techniques for the detection of both drowsiness and distraction have been proposed in the literature. Some of these techniques were successful...

Predicting Reduced Driver Alertness on Monotonous Highways Impaired driver alertness increases the likelihood of a driver making mistakes and reacting too late to unexpected events. This is a particular concern on monotonous roads, where a drivers attention can decrease rapidly. Although effective countermeasures dont currently exist, the development of in-vehicle sensors opens avenues for monitoring driving behavior in real time. The aim of this study is to predict driver alertness levels using surrogate measures collected from in-vehicle sensors. Electroencephalographic activity is used as a reference to evaluate alertness. Based on a sample of 25 drivers, the authors collected data in a driving simulator instrumented with an eye-tracking system, a heart-rate monitor, and an electrodermal activity device. They tested various classification models, from linear regressions to Bayesians and data mining techniques. Results indicate that neural networks were the most efficient model for detecting lapses in alertness. Findings also show that reduced alertness can be predicted up to five minutes in advance with 90 percent accuracy using surrogate measures such as time to line crossing, blink frequency, and skin conductance level. Such a method could be used to warn drivers of their alertness levels through the development of an in-vehicle device that monitors, in real time, driver behavior on highways.

Developing a car-following model with consideration of driver's behavior based on an Adaptive Neuro-Fuzzy Inference System. Based on a car following experiment with a synchronized fifth-wheel system, the Adaptive Neuro-Fuzzy Inference System (ANFIS) is utilized to develop a car following model. Wavelet analysis was used to denoise the high frequently collected fluctuating data. Drivers' reaction time was calculated using Cross Correlation analysis. In the car-following model developed, relative speed, distance headway between leading and following vehicle, and speed of following vehicle are the three input parameters; while acceleration of the following vehicle is the output. Comparing with the traditional General Motor (GM) car-following model, the results show that the ANFIS-based car-following model can better describe the freeway driving behavior.

Driver fatigue transition prediction in highly automated driving using physiological features •We predict the transition from non-fatigue to fatigue using physiological features.•We capitalize on PERCLOS as the ground truth of driver fatigue.•We select most critical physiological features to predict driver fatigue proactively.•We predict the fatigue transition using nonlinear autoregressive exogenous network.•The accuracy of fatigue transition prediction evidences the potential of our method.

Robust Vehicle Detection and Distance Estimation Under Challenging Lighting Conditions Avoiding high computational costs and calibration issues involved in stereo-vision-based algorithms, this paper proposes real-time monocular-vision-based techniques for simultaneous vehicle detection and inter-vehicle distance estimation, in which the performance and robustness of the system remain competitive, even for highly challenging benchmark datasets. This paper develops a collision warning system by detecting vehicles ahead and, by identifying safety distances to assist a distracted driver, prior to occurrence of an imminent crash. We introduce adaptive global Haar-like features for vehicle detection, tail-light segmentation, virtual symmetry detection, intervehicle distance estimation, as well as an efficient single-sensor multifeature fusion technique to enhance the accuracy and robustness of our algorithm. The proposed algorithm is able to detect vehicles ahead at both day or night and also for short- and long-range distances. Experimental results under various weather and lighting conditions (including sunny, rainy, foggy, or snowy) show that the proposed algorithm outperforms state-of-the-art algorithms.

A Classification Model for Sensing Human Trust in Machines Using EEG and GSR. Today, intelligent machines interact and collaborate with humans in a way that demands a greater level of trust between human and machine. A first step toward building intelligent machines that are capable of building and maintaining trust with humans is the design of a sensor that will enable machines to estimate human trust level in real time. In this article, two approaches for developing classifier-based empirical trust-sensor models are presented that specifically use electroencephalography and galvanic skin response measurements. Human subject data collected from 45 participants is used for feature extraction, feature selection, classifier training, and model validation. The first approach considers a general set of psychophysiological features across all participants as the input variables and trains a classifier-based model for each participant, resulting in a trust-sensor model based on the general feature set (i.e., a “general trust-sensor model”). The second approach considers a customized feature set for each individual and trains a classifier-based model using that feature set, resulting in improved mean accuracy but at the expense of an increase in training time. This work represents the first use of real-time psychophysiological measurements for the development of a human trust sensor. Implications of the work, in the context of trust management algorithm design for intelligent machines, are also discussed.

Modeling the Imperfect Driver: Incorporating Human Factors in a Microscopic Traffic Model. In this paper, we present the enhanced human driver model (EHDM), a time-continuous microscopic car-following model, which considers numerous characteristics attributable to the human driver. It is based on the popular intelligent driver model and the human driver model (HDM), a meta-model which enables the integration of human driving behavior into classical follow-the-leader models. We extend th...

Shared Steering Control Using Safe Envelopes for Obstacle Avoidance and Vehicle Stability. Steer-by-wire technology enables vehicle safety systems to share control with a driver through augmentation of the driver&#39;s steering commands. Advances in sensing technologies empower these systems further with real-time information about the surrounding environment. Leveraging these advancements in vehicle actuation and sensing, the authors present a shared control framework for obstacle avoidanc...

DeepTest: automated testing of deep-neural-network-driven autonomous cars Recent advances in Deep Neural Networks (DNNs) have led to the development of DNN-driven autonomous cars that, using sensors like camera, LiDAR, etc., can drive without any human intervention. Most major manufacturers including Tesla, GM, Ford, BMW, and Waymo/Google are working on building and testing different types of autonomous vehicles. The lawmakers of several US states including California, Texas, and New York have passed new legislation to fast-track the process of testing and deployment of autonomous vehicles on their roads. However, despite their spectacular progress, DNNs, just like traditional software, often demonstrate incorrect or unexpected corner-case behaviors that can lead to potentially fatal collisions. Several such real-world accidents involving autonomous cars have already happened including one which resulted in a fatality. Most existing testing techniques for DNN-driven vehicles are heavily dependent on the manual collection of test data under different driving conditions which become prohibitively expensive as the number of test conditions increases. In this paper, we design, implement, and evaluate DeepTest, a systematic testing tool for automatically detecting erroneous behaviors of DNN-driven vehicles that can potentially lead to fatal crashes. First, our tool is designed to automatically generated test cases leveraging real-world changes in driving conditions like rain, fog, lighting conditions, etc. DeepTest systematically explore different parts of the DNN logic by generating test inputs that maximize the numbers of activated neurons. DeepTest found thousands of erroneous behaviors under different realistic driving conditions (e.g., blurring, rain, fog, etc.) many of which lead to potentially fatal crashes in three top performing DNNs in the Udacity self-driving car challenge.

Delay-Aware Microservice Coordination in Mobile Edge Computing: A Reinforcement Learning Approach As an emerging service architecture, microservice enables decomposition of a monolithic web service into a set of independent lightweight services which can be executed independently. With mobile edge computing, microservices can be further deployed in edge clouds dynamically, launched quickly, and migrated across edge clouds easily, providing better services for users in proximity. However, the user mobility can result in frequent switch of nearby edge clouds, which increases the service delay when users move away from their serving edge clouds. To address this issue, this article investigates microservice coordination among edge clouds to enable seamless and real-time responses to service requests from mobile users. The objective of this work is to devise the optimal microservice coordination scheme which can reduce the overall service delay with low costs. To this end, we first propose a dynamic programming-based offline microservice coordination algorithm, that can achieve the globally optimal performance. However, the offline algorithm heavily relies on the availability of the prior information such as computation request arrivals, time-varying channel conditions and edge cloud's computation capabilities required, which is hard to be obtained. Therefore, we reformulate the microservice coordination problem using Markov decision process framework and then propose a reinforcement learning-based online microservice coordination algorithm to learn the optimal strategy. Theoretical analysis proves that the offline algorithm can find the optimal solution while the online algorithm can achieve near-optimal performance. Furthermore, based on two real-world datasets, i.e., the Telecom's base station dataset and Taxi Track dataset from Shanghai, experiments are conducted. The experimental results demonstrate that the proposed online algorithm outperforms existing algorithms in terms of service delay and migration costs, and the achieved performance is close to the optimal performance obtained by the offline algorithm.

VSNR: A Wavelet-Based Visual Signal-to-Noise Ratio for Natural Images This paper presents an efficient metric for quantifying the visual fidelity of natural images based on near-threshold and suprathreshold properties of human vision. The proposed metric, the visual signal-to-noise ratio (VSNR), operates via a two-stage approach. In the first stage, contrast thresholds for detection of distortions in the presence of natural images are computed via wavelet-based models of visual masking and visual summation in order to determine whether the distortions in the distorted image are visible. If the distortions are below the threshold of detection, the distorted image is deemed to be of perfect visual fidelity (VSNR = infin)and no further analysis is required. If the distortions are suprathreshold, a second stage is applied which operates based on the low-level visual property of perceived contrast, and the mid-level visual property of global precedence. These two properties are modeled as Euclidean distances in distortion-contrast space of a multiscale wavelet decomposition, and VSNR is computed based on a simple linear sum of these distances. The proposed VSNR metric is generally competitive with current metrics of visual fidelity; it is efficient both in terms of its low computational complexity and in terms of its low memory requirements; and it operates based on physical luminances and visual angle (rather than on digital pixel values and pixel-based dimensions) to accommodate different viewing conditions.

Intra-protocol repeatability and inter-protocol agreement for the analysis of scapulo-humeral coordination. Multi-center clinical trials incorporating shoulder kinematics are currently uncommon. The absence of repeatability and limits of agreement (LoA) studies between different centers employing different motion analysis protocols has led to a lack dataset compatibility. Therefore, the aim of this work was to determine the repeatability and LoA between two shoulder kinematic protocols. The first one uses a scapula tracker (ST), the International Society of Biomechanics anatomical frames and an optoelectronic measurement system, and the second uses a spine tracker, the INAIL Shoulder and Elbow Outpatient protocol (ISEO) and an inertial and magnetic measurement system. First within-protocol repeatability for each approach was assessed on a group of 23 healthy subjects and compared with the literature. Then, the between-protocol agreement was evaluated. The within-protocol repeatability was similar for the ST ([Formula: see text] = 2.35°, [Formula: see text] = 0.97°, SEM = 2.5°) and ISEO ([Formula: see text] = 2.24°, [Formula: see text] = 0.97°, SEM = 2.3°) protocols and comparable with data from published literature. The between-protocol agreement analysis showed comparable scapula medio-lateral rotation measurements for up to 120° of flexion-extension and up to 100° of scapula plane ab-adduction. Scapula protraction-retraction measurements were in agreement for a smaller range of humeral elevation. The results of this study suggest comparable repeatability for the ST and ISEO protocols and between-protocol agreement for two scapula rotations. Different thresholds for repeatability and LoA may be adapted to suit different clinical hypotheses.

Stochastic Dynamic Pricing for EV Charging Stations With Renewable Integration and Energy Storage. This paper studies the problem of stochastic dynamic pricing and energy management policy for electric vehicle (EV) charging service providers. In the presence of renewable energy integration and energy storage system, EV charging service providers must deal with multiple uncertainties-charging demand volatility, inherent intermittency of renewable energy generation, and wholesale electricity pric...

Communication-Efficient Federated Learning Over MIMO Multiple Access Channels Communication efficiency is of importance for wireless federated learning systems. In this paper, we propose a communication-efficient strategy for federated learning over multiple-input multiple-output (MIMO) multiple access channels (MACs). The proposed strategy comprises two components. When sending a locally computed gradient, each device compresses a high dimensional local gradient to multiple lower-dimensional gradient vectors using block sparsification. When receiving a superposition of the compressed local gradients via a MIMO-MAC, a parameter server (PS) performs a joint MIMO detection and the sparse local-gradient recovery. Inspired by the turbo decoding principle, our joint detection-and-recovery algorithm accurately recovers the high-dimensional local gradients by iteratively exchanging their beliefs for MIMO detection and sparse local gradient recovery outputs. We then analyze the reconstruction error of the proposed algorithm and its impact on the convergence rate of federated learning. From simulations, our gradient compression and joint detection-and-recovery methods diminish the communication cost significantly while achieving identical classification accuracy for the case without any compression.

Online Coordinated Charging Decision Algorithm for Electric Vehicles Without Future Information The large-scale integration of plug-in electric vehicles (PEVs) to the power grid spurs the need for efficient charging coordination mechanisms. It can be shown that the optimal charging schedule smooths out the energy consumption over time so as to minimize the total energy cost. In practice, however, it is hard to smooth out the energy consumption perfectly, because the future PEV charging demand is unknown at the moment when the charging rate of an existing PEV needs to be determined. In this paper, we propose an online coordinated charging decision (ORCHARD) algorithm, which minimizes the energy cost without knowing the future information. Through rigorous proof, we show that ORCHARD is strictly feasible in the sense that it guarantees to fulfill all charging demands before due time. Meanwhile, it achieves the best known competitive ratio of 2.39. By exploiting the problem structure, we propose a novel reduced-complexity algorithm to replace the standard convex optimization techniques used in ORCHARD. Through extensive simulations, we show that the average performance gap between ORCHARD and the offline optimal solution, which utilizes the complete future information, is as small as 6.5%. By setting a proper speeding factor, the average performance gap can be further reduced to 5%.

Competitive on-line scheduling with level of service Motivated by an application in thinwire visualization, we study an abstract on-line scheduling problem where the size of each requested service can be scaled down by the scheduler. Thus, our problem embodies a notion of "Level of Service" that is increasingly important in multimedia applications. We give two schedulers FirstFit and EndFit based on two simple heuristics, and generalize them into a class of greedy schedulers. We show that both FirstFit and EndFit are 2-competitive, and any greedy scheduler is 3-competitive. These bounds are shown to be tight.

Coordinated Charging of Electric Vehicles for Congestion Prevention in the Distribution Grid Distributed energy resources (DERs), like electric vehicles (EVs), can offer valuable services to power systems, such as enabling renewable energy to the electricity producer and providing ancillary services to the system operator. However, these new DERs may challenge the distribution grid due to insufficient capacity in peak hours. This paper aims to coordinate the valuable services and operation constraints of three actors: the EV owner, the Fleet operator (FO) and the Distribution system operator (DSO), considering the individual EV owner's driving requirement, the charging cost of EV and thermal limits of cables and transformers in the proposed market framework. Firstly, a theoretical market framework is described. Within this framework, FOs who represent their customer's (EV owners) interests will centrally guarantee the EV owners' driving requirements and procure the energy for their vehicles with lower cost. The congestion problem will be solved by a coordination between DSO and FOs through a distribution grid capacity market scheme. Then, a mathematical formulation of the market scheme is presented. Further, some case studies are shown to illustrate the effectiveness of the proposed solutions.

Real-Time PEV Charging/Discharging Coordination in Smart Distribution Systems. This paper proposes a novel online coordination method for the charging of plug-in electric vehicles (PEVs) in smart distribution networks. The goal of the proposed method is to optimally charge the PEVs in order to maximize the PEV owners&#39; satisfaction and to minimize system operating costs without violating power system constraints. Unlike the solutions reported in the literature, the proposed c...

Online welfare maximization for electric vehicle charging with electricity cost The accelerated adoption of EVs in the last few years has raised concerns that the power grid can get overloaded when a large number of EVs are charged simultaneously. A promising direction is to implement large scale automated scheduling of EV charging at public facilities, by exploiting the time elasticity of charging requests. In this work, we study the problem of online EV charging for maximizing the total value of served vehicles minus the energy cost incurred. In contrast to most previous works that assume a fixed capacity constraint while ignoring the electricity cost, we adopt a convex cost model for the system operator together with a concave valuation model for the vehicle owners. We design an online algorithm for balancing the two and prove a bound on its competitive performance for a general class of valuation and cost functions.

Definition and Evaluation of Model-Free Coordination of Electrical Vehicle Charging With Reinforcement Learning Initial DR studies mainly adopt model predictive control and thus require accurate models of the control problem (e.g., a customer behavior model), which are to a large extent uncertain for the EV scenario. Hence, model-free approaches, especially based on reinforcement learning (RL) are an attractive alternative. In this paper, we propose a new Markov decision process (MDP) formulation in the RL framework, to jointly coordinate a set of EV charging stations. State-of-the-art algorithms either focus on a single EV, or perform the control of an aggregate of EVs in multiple steps (e.g., aggregate load decisions in one step, then a step translating the aggregate decision to individual connected EVs). On the contrary, we propose an RL approach to jointly control the whole set of EVs at once. We contribute a new MDP formulation, with a scalable state representation that is independent of the number of EV charging stations. Further, we use a batch reinforcement learning algorithm, i.e., an instance of fitted Q-iteration, to learn the optimal charging policy. We analyze its performance using simulation experiments based on a real-world EV charging data. More specifically, we (i) explore the various settings in training the RL policy (e.g., duration of the period with training data), (ii) compare its performance to an oracle all-knowing benchmark (which provides an upper bound for performance, relying on information that is not available or at least imperfect in practice), (iii) analyze performance over time, over the course of a full year to evaluate possible performance fluctuations (e.g, across different seasons), and (iv) demonstrate the generalization capacity of a learned control policy to larger sets of charging stations.

A Review of Charge Scheduling of Electric Vehicles in Smart Grid Electric vehicles (EVs) are being introduced by different manufacturers as an environment-friendly alternative to vehicles with internal combustion engines, with several benefits. The number of EVs is expected to grow rapidly in the coming years. However, uncoordinated charging of these vehicles can put a severe stress on the power grid. The problem of charge scheduling of EVs is an important and challenging problem and has seen significant research activity in the last few years. This review covers the recent works done in the area of scheduling algorithms for charging EVs in smart grid. The works are first classified into two broad classes of unidirectional versus bidirectional charging, and then, each class is further classified based on whether the scheduling is centralized or distributed and whether any mobility aspects are considered or not. It then reviews the key results in this field following the classification proposed. Some interesting research challenges that can be addressed are also identified.

Image quality assessment: from error visibility to structural similarity. Objective methods for assessing perceptual image quality traditionally attempted to quantify the visibility of errors (differences) between a distorted image and a reference image using a variety of known properties of the human visual system. Under the assumption that human visual perception is highly adapted for extracting structural information from a scene, we introduce an alternative complementary framework for quality assessment based on the degradation of structural information. As a specific example of this concept, we develop a Structural Similarity Index and demonstrate its promise through a set of intuitive examples, as well as comparison to both subjective ratings and state-of-the-art objective methods on a database of images compressed with JPEG and JPEG2000.

QoE-Driven Edge Caching in Vehicle Networks Based on Deep Reinforcement Learning The Internet of vehicles (IoV) is a large information interaction network that collects information on vehicles, roads and pedestrians. One of the important uses of vehicle networks is to meet the entertainment needs of driving users through communication between vehicles and roadside units (RSUs). Due to the limited storage space of RSUs, determining the content cached in each RSU is a key challenge. With the development of 5G and video editing technology, short video systems have become increasingly popular. Current widely used cache update methods, such as partial file precaching and content popularity- and user interest-based determination, are inefficient for such systems. To solve this problem, this paper proposes a QoE-driven edge caching method for the IoV based on deep reinforcement learning. First, a class-based user interest model is established. Compared with the traditional file popularity- and user interest distribution-based cache update methods, the proposed method is more suitable for systems with a large number of small files. Second, a quality of experience (QoE)-driven RSU cache model is established based on the proposed class-based user interest model. Third, a deep reinforcement learning method is designed to address the QoE-driven RSU cache update issue effectively. The experimental results verify the effectiveness of the proposed algorithm.

GSA: A Gravitational Search Algorithm In recent years, various heuristic optimization methods have been developed. Many of these methods are inspired by swarm behaviors in nature. In this paper, a new optimization algorithm based on the law of gravity and mass interactions is introduced. In the proposed algorithm, the searcher agents are a collection of masses which interact with each other based on the Newtonian gravity and the laws of motion. The proposed method has been compared with some well-known heuristic search methods. The obtained results confirm the high performance of the proposed method in solving various nonlinear functions.

Harmony search algorithm for solving Sudoku Harmony search (HS) algorithm was applied to solving Sudoku puzzle. The HS is an evolutionary algorithm which mimics musicians' behaviors such as random play, memory-based play, and pitch-adjusted play when they perform improvisation. Sudoku puzzles in this study were formulated as an optimization problem with number-uniqueness penalties. HS could successfully solve the optimization problem after 285 function evaluations, taking 9 seconds. Also, sensitivity analysis of HS parameters was performed to obtain a better idea of algorithm parameter values.

Snow walking: motion-limiting device that reproduces the experience of walking in deep snow We propose \"Snow Walking,\" a boot-shaped device that reproduces the experience of walking in deep snow. The main purpose of this study is reproducing the feel of walking in a unique environment that we do not experience daily, particularly one that has depth, such as of deep snow. When you walk in deep snow, you get three feelings: the feel of pulling your foot up from the deep snow, the feel of putting your foot down into the deep snow, and the feel of your feet crunching across the bottom of deep snow. You cannot walk in deep snow easily, and with the system, you get a unique feeling not only on the sole of your foot but as if your entire foot is buried in the snow. We reproduce these feelings by using a slider, electromagnet, vibration speaker, a hook and loop fastener, and potato starch.

Gender Bias in Coreference Resolution: Evaluation and Debiasing Methods. We introduce a new benchmark, WinoBias, for coreference resolution focused on gender bias. Our corpus contains Winograd-schema style sentences with entities corresponding to people referred by their occupation (e.g. the nurse, the doctor, the carpenter). We demonstrate that a rule-based, a feature-rich, and a neural coreference system all link gendered pronouns to pro-stereotypical entities with higher accuracy than anti-stereotypical entities, by an average difference of 21.1 in F1 score. Finally, we demonstrate a data-augmentation approach that, in combination with existing word-embedding debiasing techniques, removes the bias demonstrated by these systems in WinoBias without significantly affecting their performance on existing coreference benchmark datasets. Our dataset and code are available at this http URL

Higher Order Tensor Decomposition For Proportional Myoelectric Control Based On Muscle Synergies Muscle synergies have recently been utilised in myoelectric control systems. Thus far, all proposed synergy-based systems rely on matrix factorisation methods. However, this is limited in terms of task-dimensionality. Here, the potential application of higher-order tensor decomposition as a framework for proportional myoelectric control is demonstrated. A novel constrained Tucker decomposition (consTD) technique of synergy extraction is proposed for synergy-based myoelectric control model and compared with state-of-the-art matrix factorisation models. The extracted synergies were used to estimate control signals for the wrist?s Degree of Freedom (DoF) through direct projection. The consTD model was able to estimate the control signals for each DoF by utilising all data in one 3rd-order tensor. This is contrast with matrix factorisation models where data are segmented for each DoF and then the synergies often have to be realigned. Moreover, the consTD method offers more information by providing additional shared synergies, unlike matrix factorisation methods. The extracted control signals were fed to a ridge regression to estimate the wrist's kinematics based on real glove data. The Coefficient of Determination (R-2) for the reconstructed wrist position showed that the proposed consTD was higher than matrix factorisation methods. In sum, this study provides the first proof of concept for the use of higher-order tensor decomposition in proportional myoelectric control and it highlights the potential of tensors to provide an objective and direct approach to identify synergies.

Federated Learning for Data Privacy Preservation in Vehicular Cyber-Physical Systems Recent developments in technologies such as MEC and AI contribute significantly in accelerating the deployment of VCPS. Techniques such as dynamic content caching, efficient resource allocation, and data sharing play a crucial role in enhancing the service quality and user driving experience. Meanwhile, data leakage in VCPS can lead to physical consequences such as endangering passenger safety and...

Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS We describe a real-time, low-cost system to localize a mobile robot in outdoor environments. Our system relies on stereo vision to robustly estimate frame-to-frame motion in real time (also known as visual odometry). The motion estimation problem is formulated efficiently in the disparity space and results in accurate and robust estimates of the motion even for a small-baseline configuration. Our system uses inertial measurements to fill in motion estimates when visual odometry fails. This incremental motion is then fused with a low-cost GPS sensor using a Kalman Filter to prevent long-term drifts. Experimental results are presented for outdoor localization in moderately sized environments (\geqslant 100 meters)

Vision based robot localization by ground to satellite matching in GPS-denied situations This paper studies the problem of matching images captured from an unmanned ground vehicle (UGV) to those from a satellite or high-flying vehicle. We focus on situations where the UGV navigates in remote areas with few man-made structures. This is a difficult problem due to the drastic change in perspective between the ground and aerial imagery and the lack of environmental features for image comparison. We do not rely on GPS, which may be jammed or uncertain. We propose a two-step approach: (1) the UGV images are warped to obtain a bird's eye view of the ground, and (2) this view is compared to a grid of satellite locations using whole-image descriptors. We analyze the performance of a variety of descriptors for different satellite map sizes and various terrain and environment types. We incorporate the air-ground matching into a particle-filter framework for localization using the best-performing descriptor. The results show that vision-based UGV localization from satellite maps is not only possible, but often provides better position estimates than GPS estimates, enabling us to improve the location estimates of Google Street View.

Federated Learning in Vehicular Networks: Opportunities and Solutions The emerging advances in personal devices and privacy concerns have given the rise to the concept of Federated Learning. Federated Learning proves its effectiveness and privacy preservation through collaborative local training and updating a shared machine learning model while protecting the individual data-sets. This article investigates a new type of vehicular network concept, namely a Federated Vehicular Network (FVN), which can be viewed as a robust distributed vehicular network. Compared to traditional vehicular networks, an FVN has centralized components and utilizes both DSRC and mmWave communication to achieve more scalable and stable performance. As a result, FVN can be used to support data-/computation-intensive applications such as distributed machine learning and Federated Learning. The article first outlines the enabling technologies of FVN. Then, we briefly discuss the high-level architecture of FVN and explain why such an architecture is adequate for Federated Learning. In addition, we use auxiliary Blockchain-based systems to facilitate transactions and mitigate malicious behaviors. Next, we discuss in detail one key component of FVN, a federated vehicular cloud (FVC), that is used for sharing data and models in FVN. In particular, we focus on the routing inside FVCs and present our solutions and preliminary evaluation results. Finally, we point out open problems and future research directions of this disruptive technology.

Federated-Learning-Empowered Collaborative Data Sharing for Vehicular Edge Networks The Internet of Vehicles connects all vehicles and shares dynamic vehicular data via wireless communications to effectively control vehicles and improve traffic efficiency. However, due to vehicular movement, vehicular data sharing based on conventional cloud computing can hardly realize real-time and dynamic updates. To address these challenges, artificial intelligence (AI)-empowered mobile/multi...

BDFL: A Byzantine-Fault-Tolerance Decentralized Federated Learning Method for Autonomous Vehicle Autonomous Vehicles ($AV$s) take advantage of Machine Learning (ML) for yielding improved experiences of self-driving. However, large-scale collection of $AV$s’ data for training will inevitably result in a privacy leakage problem. Federated Learning (FL) is...

Robust Camera Pose Estimation for Unordered Road Scene Images in Varying Viewing Conditions For continuous performance optimization of camera sensor systems in automated driving, training data from rare corner cases occurring in series production cars are required. In this article, we propose collaborative acquisition of camera images via connected car fleets for synthesis of image sequences from arbitrary road sections which are challenging for machine vision. While allowing a scalable hardware architecture inside the cars, this concept demands to reconstruct the recording locations of the individual images aggregated in the back-end. Varying environmental conditions, dynamic scenes, and small numbers of significant landmarks may hamper camera pose estimation through sparse reconstruction from unordered road scene images. Tackling those problems, we extend a state-of-the-art Structure from Motion pipeline by selecting keypoints based on a semantic image segmentation and removing GPS outliers. We present three challenging image datasets recorded on repetitive test drives under differing environmental conditions for evaluation of our method. The results demonstrate that our optimized pipeline is able to reconstruct the camera viewpoints robustly in the majority of road scenes observed while preserving high image registration rates. Reducing the median deviation from GPS measurements by over 48% for car fleet images, the method increases the accuracy of camera poses dramatically.

A standalone RFID Indoor Positioning System Using Passive Tags Indoor positioning systems (IPSs) locate objects in closed structures such as office buildings, hospitals, stores, factories, and warehouses, where Global Positioning System devices generally do not work. Most available systems apply wireless concepts, optical tracking, and/or ultrasound. This paper presents a standalone IPS using radio frequency identification (RFID) technology. The concept is ba...

Dyme: Dynamic Microservice Scheduling in Edge Computing Enabled IoT In recent years, the rapid development of mobile edge computing (MEC) provides an efficient execution platform at the edge for Internet-of-Things (IoT) applications. Nevertheless, the MEC also provides optimal resources to different microservices, however, underlying network conditions and infrastructures inherently affect the execution process in MEC. Therefore, in the presence of varying network conditions, it is necessary to optimally execute the available task of end users while maximizing the energy efficiency in edge platform and we also need to provide fair Quality-of-Service (QoS). On the other hand, it is necessary to schedule the microservices dynamically to minimize the total network delay and network price. Thus, in this article, unlike most of the existing works, we propose a dynamic microservice scheduling scheme for MEC. We design the microservice scheduling framework mathematically and also discuss the computational complexity of the scheduling algorithm. Extensive simulation results show that the microservice scheduling framework significantly improves the performance metrics in terms of total network delay, average price, satisfaction level, energy consumption rate (ECR), failure rate, and network throughput over other existing baselines.

Reciprocal N-body Collision Avoidance In this paper, we present a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace. In our formulation, each robot acts fully in- dependently, and does not communicate with other robots. Based on the definition of velocity obstacles (5), we derive sufficient conditions for collision-free motion by reducing the problem to solving a low-dimensional linear program. We test our approach on several dense and complex simulation scenarios involving thousands of robots and compute collision-free actions for all of them in only a few millisec- onds. To the best of our knowledge, this method is the first that can guarantee local collision-free motion for a large number of robots in a cluttered workspace.

RFID-based techniques for human-activity detection The iBracelet and the Wireless Identification and Sensing Platform promise the ability to infer human activity directly from sensor readings.

RECIFE-MILP: An Effective MILP-Based Heuristic for the Real-Time Railway Traffic Management Problem The real-time railway traffic management problem consists of selecting appropriate train routes and schedules for minimizing the propagation of delay in case of traffic perturbation. In this paper, we tackle this problem by introducing RECIFE-MILP, a heuristic algorithm based on a mixed-integer linear programming model. RECIFE-MILP uses a model that extends one we previously proposed by including additional elements characterizing railway reality. In addition, it implements performance boosting methods selected among several ones through an algorithm configuration tool. We present a thorough experimental analysis that shows that the performances of RECIFE-MILP are better than the ones of the currently implemented traffic management strategy. RECIFE-MILP often finds the optimal solution to instances within the short computation time available in real-time applications. Moreover, RECIFE-MILP is robust to its configuration if an appropriate selection of the combination of boosting methods is performed.

A Covert Channel Over VoLTE via Adjusting Silence Periods. Covert channels represent unforeseen communication methods that exploit authorized overt communication as the carrier medium for covert messages. Covert channels can be a secure and effective means of transmitting confidential information hidden in overt traffic. For covert timing channel, the covert message is usually modulated into inter-packet delays (IPDs) of legitimate traffic, which is not suitable for voice over LTE (VoLTE) since the IPDs of VoLTE traffic are fixed to lose the possibility of being modulated. For this reason, we propose a covert channel via adjusting silence periods, which modulates covert message by the postponing or extending silence periods in VoLTE traffic. To keep the robustness, we employ the Gray code to encode the covert message to reduce the impact of packet loss. Moreover, the proposed covert channel enables the tradeoff between the robustness and voice quality which is an important performance indicator for VoLTE. The experiment results show that the proposed covert channel is undetectable by statistical tests and outperforms the other covert channels based on IPDs in terms of robustness.

Pricing-Based Channel Selection for D2D Content Sharing in Dynamic Environment In order to make device-to-device (D2D) content sharing give full play to its advantage of improving local area services, one of the important issues is to decide the channels that D2D pairs occupy. Most existing works study this issue in static environment, and ignore the guidance for D2D pairs to select the channel adaptively. In this paper, we investigate this issue in dynamic environment where...

Simultaneous Wireless Information and Power Transfer (SWIPT): Recent Advances and Future Challenges. Initial efforts on wireless power transfer (WPT) have concentrated toward long-distance transmission and high power applications. Nonetheless, the lower achievable transmission efficiency and potential health concerns arising due to high power applications, have caused limitations in their further developments. Due to tremendous energy consumption growth with ever-increasing connected devices, alt...

Mobility in wireless sensor networks - Survey and proposal. Targeting an increasing number of potential application domains, wireless sensor networks (WSN) have been the subject of intense research, in an attempt to optimize their performance while guaranteeing reliability in highly demanding scenarios. However, hardware constraints have limited their application, and real deployments have demonstrated that WSNs have difficulties in coping with complex communication tasks – such as mobility – in addition to application-related tasks. Mobility support in WSNs is crucial for a very high percentage of application scenarios and, most notably, for the Internet of Things. It is, thus, important to know the existing solutions for mobility in WSNs, identifying their main characteristics and limitations. With this in mind, we firstly present a survey of models for mobility support in WSNs. We then present the Network of Proxies (NoP) assisted mobility proposal, which relieves resource-constrained WSN nodes from the heavy procedures inherent to mobility management. The presented proposal was implemented and evaluated in a real platform, demonstrating not only its advantages over conventional solutions, but also its very good performance in the simultaneous handling of several mobile nodes, leading to high handoff success rate and low handoff time.

Tag-based cooperative data gathering and energy recharging in wide area RFID sensor networks The Wireless Identification and Sensing Platform (WISP) conjugates the identification potential of the RFID technology and the sensing and computing capability of the wireless sensors. Practical issues, such as the need of periodically recharging WISPs, challenge the effective deployment of large-scale RFID sensor networks (RSNs) consisting of RFID readers and WISP nodes. In this view, the paper proposes cooperative solutions to energize the WISP devices in a wide-area sensing network while reducing the data collection delay. The main novelty is the fact that both data transmissions and energy transfer are based on the RFID technology only: RFID mobile readers gather data from the WISP devices, wirelessly recharge them, and mutually cooperate to reduce the data delivery delay to the sink. Communication between mobile readers relies on two proposed solutions: a tag-based relay scheme, where RFID tags are exploited to temporarily store sensed data at pre-determined contact points between the readers; and a tag-based data channel scheme, where the WISPs are used as a virtual communication channel for real time data transfer between the readers. Both solutions require: (i) clustering the WISP nodes; (ii) dimensioning the number of required RFID mobile readers; (iii) planning the tour of the readers under the energy and time constraints of the nodes. A simulative analysis demonstrates the effectiveness of the proposed solutions when compared to non-cooperative approaches. Differently from classic schemes in the literature, the solutions proposed in this paper better cope with scalability issues, which is of utmost importance for wide area networks.

Improving charging capacity for wireless sensor networks by deploying one mobile vehicle with multiple removable chargers. Wireless energy transfer is a promising technology to prolong the lifetime of wireless sensor networks (WSNs), by employing charging vehicles to replenish energy to lifetime-critical sensors. Existing studies on sensor charging assumed that one or multiple charging vehicles being deployed. Such an assumption may have its limitation for a real sensor network. On one hand, it usually is insufficient to employ just one vehicle to charge many sensors in a large-scale sensor network due to the limited charging capacity of the vehicle or energy expirations of some sensors prior to the arrival of the charging vehicle. On the other hand, although the employment of multiple vehicles can significantly improve the charging capability, it is too costly in terms of the initial investment and maintenance costs on these vehicles. In this paper, we propose a novel charging model that a charging vehicle can carry multiple low-cost removable chargers and each charger is powered by a portable high-volume battery. When there are energy-critical sensors to be charged, the vehicle can carry the chargers to charge multiple sensors simultaneously, by placing one portable charger in the vicinity of one sensor. Under this novel charging model, we study the scheduling problem of the charging vehicle so that both the dead duration of sensors and the total travel distance of the mobile vehicle per tour are minimized. Since this problem is NP-hard, we instead propose a (3+ϵ)-approximation algorithm if the residual lifetime of each sensor can be ignored; otherwise, we devise a novel heuristic algorithm, where ϵ is a given constant with 0 < ϵ ≤ 1. Finally, we evaluate the performance of the proposed algorithms through experimental simulations. Experimental results show that the performance of the proposed algorithms are very promising.

Speed control of mobile chargers serving wireless rechargeable networks. Wireless rechargeable networks have attracted increasing research attention in recent years. For charging service, a mobile charger is often employed to move across the network and charge all network nodes. To reduce the charging completion time, most existing works have used the “move-then-charge” model where the charger first moves to specific spots and then starts charging nodes nearby. As a result, these works often aim to reduce the moving delay or charging delay at the spots. However, the charging opportunity on the move is largely overlooked because the charger can charge network nodes while moving, which as we analyze in this paper, has the potential to greatly reduce the charging completion time. The major challenge to exploit the charging opportunity is the setting of the moving speed of the charger. When the charger moves slow, the charging delay will be reduced (more energy will be charged during the movement) but the moving delay will increase. To deal with this challenge, we formulate the problem of delay minimization as a Traveling Salesman Problem with Speed Variations (TSP-SV) which jointly considers both charging and moving delay. We further solve the problem using linear programming to generate (1) the moving path of the charger, (2) the moving speed variations on the path and (3) the stay time at each charging spot. We also discuss possible ways to reduce the calculation complexity. Extensive simulation experiments are conducted to study the delay performance under various scenarios. The results demonstrate that our proposed method achieves much less completion time compared to the state-of-the-art work.

Beamforming in Wireless Energy Harvesting Communications Systems: A Survey. Wireless energy harvesting (EH) is a promising solution to prolong lifetime of power-constrained networks such as military and sensor networks. The high sensitivity of energy transfer to signal decay due to path loss and fading, promotes multi-antenna techniques like beamforming as the candidate transmission scheme for EH networks. Exploiting beamforming in EH networks has gained overwhelming inte...

Coverage and Connectivity Aware Energy Charging Mechanism Using Mobile Charger for WRSNs Wireless recharging using a mobile charger has been widely discussed in recent years. Most of them considered that all sensors were equally important and aimed to maximize the number of recharged sensors. The purpose of energy recharging is to extend the lifetime of sensors whose major work is to maximize the surveillance quality. In a randomly deployed wireless rechargeable sensor network, the surveillance quality highly depends on the contributions of coverage and network connectivity of each sensor. Instead of considering maximizing the number of recharged sensors, this article further takes into consideration the contributions of coverage and network connectivity of each sensor when making the decision of recharging schedule, aiming to maximize the surveillance quality and improve the number of data collected from sensors to the sink node. This article proposes an energy recharging mechanism, called an energy recharging mechanism for maximizing the surveillance quality of a given WRSNs (ERSQ), which partitions the monitoring region into several equal-sized grids and considers the important factors, including coverage contribution, network connectivity contribution, the remaining energy as well as the path length cost of each grid, aiming to maximize surveillance quality for a given wireless sensor network. Performance studies reveal that the proposed ERSQ outperforms existing recharging mechanisms in terms of the coverage, the number of working sensors as well as the effectiveness index of working sensors.

Minimizing the Maximum Charging Delay of Multiple Mobile Chargers Under the Multi-Node Energy Charging Scheme Wireless energy charging has emerged as a very promising technology for prolonging sensor lifetime in wireless rechargeable sensor networks (WRSNs). Existing studies focused mainly on the one-to-one charging scheme that a single sensor can be charged by a mobile charger at each time, this charging scheme however suffers from poor charging scalability and inefficiency. Recently, another charging scheme, the multi-node charging scheme that allows multiple sensors to be charged simultaneously by a mobile charger, becomes dominant, which can mitigate charging scalability and improve charging efficiency. However, most previous studies on this multi-node energy charging scheme focused on the use of a single mobile charger to charge multiple sensors simultaneously. For large scale WRSNs, it is insufficient to deploy only a single mobile charger to charge many lifetime-critical sensors, and consequently sensor expiration durations will increase dramatically. To charge many lifetime-critical sensors in large scale WRSNs as early as possible, it is inevitable to adopt multiple mobile chargers for sensor charging that can not only speed up sensor charging but also reduce expiration times of sensors. This however poses great challenges to fairly schedule the multiple mobile chargers such that the longest charging delay among sensors is minimized. One important constraint is that no sensor can be charged by more than one mobile charger at any time due to the fact that the sensor cannot receive any energy from either of the chargers or the overcharging will damage the recharging battery of the sensor. Thus, finding a closed charge tour for each of the multiple chargers such that the longest charging delay is minimized is crucial. In this paper we address the challenge by formulating a novel longest charging delay minimization problem. We first show that the problem is NP-hard. We then devise the very first approximation algorithm with a provable approximation ratio for the problem. We finally evaluate the performance of the proposed algorithms through experimental simulations. Experimental results demonstrate that the proposed algorithm is promising, and outperforms existing algorithms in various settings.

NETWRAP: An NDN Based Real-TimeWireless Recharging Framework for Wireless Sensor Networks Using vehicles equipped with wireless energy transmission technology to recharge sensor nodes over the air is a game-changer for traditional wireless sensor networks. The recharging policy regarding when to recharge which sensor nodes critically impacts the network performance. So far only a few works have studied such recharging policy for the case of using a single vehicle. In this paper, we propose NETWRAP, an N DN based Real Time Wireless Rech arging Protocol for dynamic wireless recharging in sensor networks. The real-time recharging framework supports single or multiple mobile vehicles. Employing multiple mobile vehicles provides more scalability and robustness. To efficiently deliver sensor energy status information to vehicles in real-time, we leverage concepts and mechanisms from named data networking (NDN) and design energy monitoring and reporting protocols. We derive theoretical results on the energy neutral condition and the minimum number of mobile vehicles required for perpetual network operations. Then we study how to minimize the total traveling cost of vehicles while guaranteeing all the sensor nodes can be recharged before their batteries deplete. We formulate the recharge optimization problem into a Multiple Traveling Salesman Problem with Deadlines (m-TSP with Deadlines), which is NP-hard. To accommodate the dynamic nature of node energy conditions with low overhead, we present an algorithm that selects the node with the minimum weighted sum of traveling time and residual lifetime. Our scheme not only improves network scalability but also ensures the perpetual operation of networks. Extensive simulation results demonstrate the effectiveness and efficiency of the proposed design. The results also validate the correctness of the theoretical analysis and show significant improvements that cut the number of nonfunctional nodes by half compared to the static scheme while maintaining the network overhead at the same level.

Hierarchical mesh segmentation based on fitting primitives In this paper, we describe a hierarchical face clustering algorithm for triangle meshes based on fitting primitives belonging to an arbitrary set. The method proposed is completely automatic, and generates a binary tree of clusters, each of which is fitted by one of the primitives employed. Initially, each triangle represents a single cluster; at every iteration, all the pairs of adjacent clusters are considered, and the one that can be better approximated by one of the primitives forms a new single cluster. The approximation error is evaluated using the same metric for all the primitives, so that it makes sense to choose which is the most suitable primitive to approximate the set of triangles in a cluster.Based on this approach, we have implemented a prototype that uses planes, spheres and cylinders, and have experimented that for meshes made of 100 K faces, the whole binary tree of clusters can be built in about 8 s on a standard PC.The framework described here has natural application in reverse engineering processes, but it has also been tested for surface denoising, feature recovery and character skinning.

Movie2Comics: Towards a Lively Video Content Presentation a type of artwork, comics is prevalent and popular around the world. However, despite the availability of assistive software and tools, the creation of comics is still a labor-intensive and time-consuming process. This paper proposes a scheme that is able to automatically turn a movie clip to comics. Two principles are followed in the scheme: 1) optimizing the information preservation of the movie; and 2) generating outputs following the rules and the styles of comics. The scheme mainly contains three components: script-face mapping, descriptive picture extraction, and cartoonization. The script-face mapping utilizes face tracking and recognition techniques to accomplish the mapping between characters' faces and their scripts. The descriptive picture extraction then generates a sequence of frames for presentation. Finally, the cartoonization is accomplished via three steps: panel scaling, stylization, and comics layout design. Experiments are conducted on a set of movie clips and the results have demonstrated the usefulness and the effectiveness of the scheme.

Parallel Multi-Block ADMM with o(1/k) Convergence This paper introduces a parallel and distributed algorithm for solving the following minimization problem with linear constraints: $$\\begin{aligned} \\text {minimize} ~~&f_1(\\mathbf{x}_1) + \\cdots + f_N(\\mathbf{x}_N)\\\\ \\text {subject to}~~&A_1 \\mathbf{x}_1 ~+ \\cdots + A_N\\mathbf{x}_N =c,\\\\&\\mathbf{x}_1\\in {\\mathcal {X}}_1,~\\ldots , ~\\mathbf{x}_N\\in {\\mathcal {X}}_N, \\end{aligned}$$minimizef1(x1)+ź+fN(xN)subject toA1x1+ź+ANxN=c,x1źX1,ź,xNźXN,where $$N \\ge 2$$Nź2, $$f_i$$fi are convex functions, $$A_i$$Ai are matrices, and $${\\mathcal {X}}_i$$Xi are feasible sets for variable $$\\mathbf{x}_i$$xi. Our algorithm extends the alternating direction method of multipliers (ADMM) and decomposes the original problem into N smaller subproblems and solves them in parallel at each iteration. This paper shows that the classic ADMM can be extended to the N-block Jacobi fashion and preserve convergence in the following two cases: (i) matrices $$A_i$$Ai are mutually near-orthogonal and have full column-rank, or (ii) proximal terms are added to the N subproblems (but without any assumption on matrices $$A_i$$Ai). In the latter case, certain proximal terms can let the subproblem be solved in more flexible and efficient ways. We show that $$\\Vert {\\mathbf {x}}^{k+1} - {\\mathbf {x}}^k\\Vert _M^2$$źxk+1-xkźM2 converges at a rate of o(1 / k) where M is a symmetric positive semi-definte matrix. Since the parameters used in the convergence analysis are conservative, we introduce a strategy for automatically tuning the parameters to substantially accelerate our algorithm in practice. We implemented our algorithm (for the case ii above) on Amazon EC2 and tested it on basis pursuit problems with 300 GB of distributed data. This is the first time that successfully solving a compressive sensing problem of such a large scale is reported.

Deep Continuous Fusion For Multi-Sensor 3d Object Detection In this paper, we propose a novel 3D object detector that can exploit both LIDAR as well as cameras to perform very accurate localization. Towards this goal, we design an end-to-end learnable architecture that exploits continuous convolutions to fuse image and LIDAR feature maps at different levels of resolution. Our proposed continuous fusion layer encode both discrete-state image features as well as continuous geometric information. This enables us to design a novel, reliable and efficient end-to-end learnable 3D object detector based on multiple sensors. Our experimental evaluation on both KITTI as well as a large scale 3D object detection benchmark shows significant improvements over the state of the art.

Stochastic QoE-aware optimization of multisource multimedia content delivery for mobile cloud The increasing popularity of mobile video streaming in wireless networks has stimulated growing demands for efficient video streaming services. However, due to the time-varying throughput and user mobility, it is still difficult to provide high quality video services for mobile users. Our proposed optimization method considers key factors such as video quality, bitrate level, and quality variations to enhance quality of experience over wireless networks. The mobile network and device parameters are estimated in order to deliver the best quality video for the mobile user. We develop a rate adaptation algorithm using Lyapunov optimization for multi-source multimedia content delivery to minimize the video rate switches and provide higher video quality. The multi-source manager algorithm is developed to select the best stream based on the path quality for each path. The node joining and cluster head election mechanism update the node information. As the proposed approach selects the optimal path, it also achieves fairness and stability among clients. The quality of experience feature metrics like bitrate level, rebuffering events, and bitrate switch frequency are employed to assess video quality. We also employ objective video quality assessment methods like VQM, MS-SSIM, and SSIMplus for video quality measurement closer to human visual assessment. Numerical results show the effectiveness of the proposed method as compared to the existing state-of-the-art methods in providing quality of experience and bandwidth utilization.

A Survey And Classification Of The Security Anomaly Detection Mechanisms In Software Defined Networks Software defined network (SDN) decouples the network control and data planes. Despite various advantages of SDNs, they are vulnerable to various security attacks such anomalies, intrusions, and Denial-of-Service (DoS) attacks and so on. On the other hand, any anomaly and intrusion in SDNs can affect many important domains such as banking system and national security. Therefore, the anomaly detection topic is a broad research domain, and to mitigate these security problems, a great deal of research has been conducted in the literature. In this paper, the state-of-the-art schemes applied in detecting and mitigating anomalies in SDNs are explained, categorized, and compared. This paper categorizes the SDN anomaly detection mechanisms into five categories: (1) flow counting scheme, (2) information-based scheme, (3) entropy-based scheme, (4) deep learning, and (5) hybrid scheme. The research gaps and major existing research issues regarding SDN anomaly detection are highlighted. We hope that the analyses, comparisons, and classifications might provide directions for further research.

Adaptive Clustering with Feature Ranking for DDoS Attacks Detection Distributed Denial of Service (DDoS) attacks pose an increasing threat to the current internet. The detection of such attacks plays an important role in maintaining the security of networks. In this paper, we propose a novel adaptive clustering method combined with feature ranking for DDoS attacks detection. First, based on the analysis of network traffic, preliminary variables are selected. Second, the Modified Global K-means algorithm (MGKM) is used as the basic incremental clustering algorithm to identify the cluster structure of the target data. Third, the linear correlation coefficient is used for feature ranking. Lastly, the feature ranking result is used to inform and recalculate the clusters. This adaptive process can make worthwhile adjustments to the working feature vector according to different patterns of DDoS attacks, and can improve the quality of the clusters and the effectiveness of the clustering algorithm. The experimental results demonstrate that our method is effective and adaptive in detecting the separate phases of DDoS attacks.

The role of KL divergence in anomaly detection We study the role of Kullback-Leibler divergence in the framework of anomaly detection, where its abilities as a statistic underlying detection have never been investigated in depth. We give an in-principle analysis of network attack detection, showing explicitly attacks may be masked at minimal cost through 'camouflage'. We illustrate on both synthetic distributions and ones taken from real traffic.

An Anomaly Detection Model Based on One-Class SVM to Detect Network Intrusions. Intrusion detection occupies a decision position in solving the network security problems. Support Vector Machines (SVMs) are one of the widely used intrusion detection techniques. However, the commonly used two-class SVM algorithms are facing difficulties of constructing the training dataset. That is because in many real application scenarios, normal connection records are easy to be obtained, but attack records are not so. We propose an anomaly detection model based on One-class SVM to detect network intrusions. The one-class SVM adopts only normal network connection records as the training dataset. But after being trained, it is able to recognize normal from various attacks. This just meets the requirements of the anomaly detection. Experimental results on KDDCUP99 dataset show that compared to Probabilistic Neural Network (PNN) and C-SVM, our anomaly detection model based on One-class SVM achieves higher detection rates and yields average better performance in terms of precision, recall and F-value.

Detection and Mitigation of DoS and DDoS Attacks in IoT-Based Stateful SDN : An Experimental Approach. The expected advent of the Internet of Things (IoT) has triggered a large demand of embedded devices, which envisions the autonomous interaction of sensors and actuators while offering all sort of smart services. However, these IoT devices are limited in computation, storage, and network capacity, which makes them easy to hack and compromise. To achieve secure development of IoT, it is necessary to engineer scalable security solutions optimized for the IoT ecosystem. To this end, Software Defined Networking (SDN) is a promising paradigm that serves as a pillar in the fifth generation of mobile systems (5G) that could help to detect and mitigate Denial of Service (DoS) and Distributed DoS (DDoS) threats. In this work, we propose to experimentally evaluate an entropy-based solution to detect and mitigate DoS and DDoS attacks in IoT scenarios using a stateful SDN data plane. The obtained results demonstrate for the first time the effectiveness of this technique targeting real IoT data traffic.

Machine-Learning-Enabled DDoS Attacks Detection in P4 Programmable Networks Distributed Denial of Service (DDoS) attacks represent a major concern in modern Software Defined Networking (SDN), as SDN controllers are sensitive points of failures in the whole SDN architecture. Recently, research on DDoS attacks detection in SDN has focused on investigation of how to leverage data plane programmability, enabled by P4 language, to detect attacks directly in network switches, with marginal involvement of SDN controllers. In order to effectively address cybersecurity management in SDN architectures, we investigate the potential of Artificial Intelligence and Machine Learning (ML) algorithms to perform automated DDoS Attacks Detection (DAD), specifically focusing on Transmission Control Protocol SYN flood attacks. We compare two different DAD architectures, called Standalone and Correlated DAD, where traffic features collection and attack detection are performed locally at network switches or in a single entity (e.g., in SDN controller), respectively. We combine the capability of ML and P4-enabled data planes to implement real-time DAD. Illustrative numerical results show that, for all tested ML algorithms, accuracy, precision, recall and F1-score are above 98% in most cases, and classification time is in the order of few hundreds of mu s in the worst case. Considering real-time DAD implementation, significant latency reduction is obtained when features are extracted at the data plane by using P4 language.

Accurate Self-Localization in RFID Tag Information Grids Using FIR Filtering Grid navigation spaces nested with the radio-frequency identification (RFID) tags are promising for industrial and other needs, because each tag can deliver information about a local two-dimensional or three-dimensional surrounding. The approach, however, requires high accuracy in vehicle self-localization. Otherwise, errors may lead to collisions; possibly even fatal. We propose a new extended finite impulse response (EFIR) filtering algorithm and show that it meets this need. The EFIR filter requires an optimal averaging interval, but does not involve the noise statistics which are often not well known to the engineer. It is more accurate than the extended Kalman filter (EKF) under real operation conditions and its iterative algorithm has the Kalman form. Better performance of the proposed EFIR filter is demonstrated based on extensive simulations in a comparison to EKF, which is widely used in RFID tag grids. We also show that errors in noise covariances may provoke divergence in EKF, whereas the EFIR filter remains stable and is thus more robust.

Evolutionary computation: comments on the history and current state Evolutionary computation has started to receive significant attention during the last decade, although the origins can be traced back to the late 1950's. This article surveys the history as well as the current state of this rapidly growing field. We describe the purpose, the general structure, and the working principles of different approaches, including genetic algorithms (GA) (with links to genetic programming (GP) and classifier systems (CS)), evolution strategies (ES), and evolutionary programming (EP) by analysis and comparison of their most important constituents (i.e. representations, variation operators, reproduction, and selection mechanism). Finally, we give a brief overview on the manifold of application domains, although this necessarily must remain incomplete

Supporting social navigation on the World Wide Web This paper discusses a navigation behavior on Internet information services, in particular the World Wide Web, which is characterized by pointing out of information using various communication tools. We call this behavior social navigation as it is based on communication and interaction with other users, be that through email, or any other means of communication. Social navigation phenomena are quite common although most current tools (like Web browsers or email clients) offer very little support for it. We describe why social navigation is useful and how it can be better supported in future systems. We further describe two prototype systems that, although originally not designed explicitly as tools for social navigation, provide features that are typical for social navigation systems. One of these systems, the Juggler system, is a combination of a textual virtual environment and a Web client. The other system is a prototype of a Web- hotlist organizer, called Vortex. We use both systems to describe fundamental principles of social navigation systems.

Proofs of Storage from Homomorphic Identification Protocols Proofs of storage (PoS) are interactive protocols allowing a client to verify that a server faithfully stores a file. Previous work has shown that proofs of storage can be constructed from any homomorphic linear authenticator (HLA). The latter, roughly speaking, are signature/message authentication schemes where `tags' on multiple messages can be homomorphically combined to yield a `tag' on any linear combination of these messages. We provide a framework for building public-key HLAs from any identification protocol satisfying certain homomorphic properties. We then show how to turn any public-key HLA into a publicly-verifiable PoS with communication complexity independent of the file length and supporting an unbounded number of verifications. We illustrate the use of our transformations by applying them to a variant of an identification protocol by Shoup, thus obtaining the first unbounded-use PoS based on factoring (in the random oracle model).

Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an extended Kalman filter designed for real-time estimation of the orientation of human limb segments. The filter processes data from small inertial/magnetic sensor modules containing triaxial angular rate sensors, accelerometers, and magnetometers. The filter represents rotation using quaternions rather than Euler angles or axis/angle pairs. Preprocessing of the acceleration and magnetometer measurements using the Quest algorithm produces a computed quaternion input for the filter. This preprocessing reduces the dimension of the state vector and makes the measurement equations linear. Real-time implementation and testing results of the quaternion-based Kalman filter are presented. Experimental results validate the filter design, and show the feasibility of using inertial/magnetic sensor modules for real-time human body motion tracking

Finite-approximation-error-based discrete-time iterative adaptive dynamic programming. In this paper, a new iterative adaptive dynamic programming (ADP) algorithm is developed to solve optimal control problems for infinite horizon discrete-time nonlinear systems with finite approximation errors. First, a new generalized value iteration algorithm of ADP is developed to make the iterative performance index function converge to the solution of the Hamilton-Jacobi-Bellman equation. The ...

Neural network adaptive tracking control for a class of uncertain switched nonlinear systems. •Study the method of the tracking control of the switched uncertain nonlinear systems under arbitrary switching signal controller.•A multilayer neural network adaptive controller with multilayer weight norm adaptive estimation is been designed.•The adaptive law is expand from calculation the second layer weight of neural network to both of the two layers weight.•The controller proposed improve the tracking error performance of the closed-loop system greatly.

Convert Harm Into Benefit: A Coordination-Learning Based Dynamic Spectrum Anti-Jamming Approach This paper mainly investigates the multi-user anti-jamming spectrum access problem. Using the idea of “converting harm into benefit,” the malicious jamming signals projected by the enemy are utilized by the users as the coordination signals to guide spectrum coordination. An “internal coordination-external confrontation” multi-user anti-jamming access game model is constructed, and the existence of Nash equilibrium (NE) as well as correlated equilibrium (CE) is demonstrated. A coordination-learning based anti-jamming spectrum access algorithm (CLASA) is designed to achieve the CE of the game. Simulation results show the convergence, and effectiveness of the proposed CLASA algorithm, and indicate that our approach can help users confront the malicious jammer, and coordinate internal spectrum access simultaneously without information exchange. Last but not least, the fairness of the proposed approach under different jamming attack patterns is analyzed, which illustrates that this approach provides fair anti-jamming spectrum access opportunities under complicated jamming pattern.

Some complexity questions related to distributive computing(Preliminary Report) Let M &equil; {0, 1, 2, ..., m—1} , N &equil; {0, 1, 2,..., n—1} , and f:M × N → {0, 1} a Boolean-valued function. We will be interested in the following problem and its related questions. Let i &egr; M, j &egr; N be integers known only to two persons P1 and P2, respectively. For P1 and P2 to determine cooperatively the value f(i, j), they send information to each other alternately, one bit at a time, according to some algorithm. The quantity of interest, which measures the information exchange necessary for computing f, is the minimum number of bits exchanged in any algorithm. For example, if f(i, j) &equil; (i + j) mod 2. then 1 bit of information (conveying whether i is odd) sent from P1 to P2 will enable P2 to determine f(i, j), and this is clearly the best possible. The above problem is a variation of a model of Abelson [1] concerning information transfer in distributive computions.

QoE-Driven Edge Caching in Vehicle Networks Based on Deep Reinforcement Learning The Internet of vehicles (IoV) is a large information interaction network that collects information on vehicles, roads and pedestrians. One of the important uses of vehicle networks is to meet the entertainment needs of driving users through communication between vehicles and roadside units (RSUs). Due to the limited storage space of RSUs, determining the content cached in each RSU is a key challenge. With the development of 5G and video editing technology, short video systems have become increasingly popular. Current widely used cache update methods, such as partial file precaching and content popularity- and user interest-based determination, are inefficient for such systems. To solve this problem, this paper proposes a QoE-driven edge caching method for the IoV based on deep reinforcement learning. First, a class-based user interest model is established. Compared with the traditional file popularity- and user interest distribution-based cache update methods, the proposed method is more suitable for systems with a large number of small files. Second, a quality of experience (QoE)-driven RSU cache model is established based on the proposed class-based user interest model. Third, a deep reinforcement learning method is designed to address the QoE-driven RSU cache update issue effectively. The experimental results verify the effectiveness of the proposed algorithm.

Multi-Hop Cooperative Computation Offloading for Industrial IoT–Edge–Cloud Computing Environments The concept of the industrial Internet of things (IIoT) is being widely applied to service provisioning in many domains, including smart healthcare, intelligent transportation, autopilot, and the smart grid. However, because of the IIoT devices’ limited onboard resources, supporting resource-intensive applications, such as 3D sensing, navigation, AI processing, and big-data analytics, remains a challenging task. In this paper, we study the multi-hop computation-offloading problem for the IIoT–edge–cloud computing model and adopt a game-theoretic approach to achieving Quality of service (QoS)-aware computation offloading in a distributed manner. First, we study the computation-offloading and communication-routing problems with the goal of minimizing each task's computation time and energy consumption, formulating the joint problem as a potential game in which the IIoT devices determine their computation-offloading strategies. Second, we apply a free–bound mechanism that can ensure a finite improvement path to a Nash equilibrium. Third, we propose a multi-hop cooperative-messaging mechanism and develop two QoS-aware distributed algorithms that can achieve the Nash equilibrium. Our simulation results show that our algorithms offer a stable performance gain for IIoT in various scenarios and scale well as the device size increases.

Placing Virtual Machines to Optimize Cloud Gaming Experience Optimizing cloud gaming experience is no easy task due to the complex tradeoff between gamer quality of experience (QoE) and provider net profit. We tackle the challenge and study an optimization problem to maximize the cloud gaming provider's total profit while achieving just-good-enough QoE. We conduct measurement studies to derive the QoE and performance models. We formulate and optimally solve the problem. The optimization problem has exponential running time, and we develop an efficient heuristic algorithm. We also present an alternative formulation and algorithms for closed cloud gaming services with dedicated infrastructures, where the profit is not a concern and overall gaming QoE needs to be maximized. We present a prototype system and testbed using off-the-shelf virtualization software, to demonstrate the practicality and efficiency of our algorithms. Our experience on realizing the testbed sheds some lights on how cloud gaming providers may build up their own profitable services. Last, we conduct extensive trace-driven simulations to evaluate our proposed algorithms. The simulation results show that the proposed heuristic algorithms: (i) produce close-to-optimal solutions, (ii) scale to large cloud gaming services with 20,000 servers and 40,000 gamers, and (iii) outperform the state-of-the-art placement heuristic, e.g., by up to 3.5 times in terms of net profits.

Service Popularity-Based Smart Resources Partitioning for Fog Computing-Enabled Industrial Internet of Things. Recently, fog computing has gained increasing attention in processing the computing tasks of the industrial Internet of things (IIoT) with different service popularity. In task-diversified fog computing-enabled IIoT (F-IIoT), the mismatch between expected computing efficiency and partitioned resources on fog nodes (FNs) may pose serious traffic congestion even large-scale industrial service interr...

QoE-Driven Transmission-Aware Cache Placement and Cooperative Beamforming Design in Cloud-RANs Pre-caching popular videos at base stations (BSs) is a cost-effective way to significantly alleviate the backhaul pressure. With the video caching, the cache placement and the transmission strategy are intertwined with each other and jointly affect the system performance. Furthermore, the cache placement is updated in a much longer timescale than the transmission strategy. In this paper, the long-term transmission-aware cache placement and the short-term transmission strategy are designed to enhance the quality of experience (QoE) for the video streaming in cloud radio access networks (cloud-RANs). Specifically, consider a cache-enabled cloud-RAN, video contents are cached at BSs, and user requests are cooperatively satisfied by multiple BSs via the cooperative beamforming. To improve the weighted sum of users’ QoE, the long-term transmission-aware caching problem in the caching stage and the short-term transmission problem in the delivery stage are respectively formulated, taking into account the backhaul capacity constraint, the transmission power constraint, and the storage size constraint. For the caching problem, the sample average approach is first used to approximate the long-term average QoE value. Then, cache placement strategies are devised in both centralized and distributed manner. For the transmission problem, the full-cooperative beamforming scheme is studied with the optimized cache placement, and an iterative algorithm is proposed. Simulation results show that our proposed transmission-aware cache placement and transmission strategies can achieve higher QoE performance than other cache placement and transmission strategies.

Fast Adaptive Task Offloading in Edge Computing Based on Meta Reinforcement Learning Multi-access edge computing (MEC) aims to extend cloud service to the network edge to reduce network traffic and service latency. A fundamental problem in MEC is how to efficiently offload heterogeneous tasks of mobile applications from user equipment (UE) to MEC hosts. Recently, many deep reinforcement learning (DRL)-based methods have been proposed to learn offloading policies through interacting with the MEC environment that consists of UE, wireless channels, and MEC hosts. However, these methods have weak adaptability to new environments because they have low sample efficiency and need full retraining to learn updated policies for new environments. To overcome this weakness, we propose a task offloading method based on meta reinforcement learning, which can adapt fast to new environments with a small number of gradient updates and samples. We model mobile applications as Directed Acyclic Graphs (DAGs) and the offloading policy by a custom sequence-to-sequence (seq2seq) neural network. To efficiently train the seq2seq network, we propose a method that synergizes the first order approximation and clipped surrogate objective. The experimental results demonstrate that this new offloading method can reduce the latency by up to 25 percent compared to three baselines while being able to adapt fast to new environments.

Vision meets robotics: The KITTI dataset We present a novel dataset captured from a VW station wagon for use in mobile robotics and autonomous driving research. In total, we recorded 6 hours of traffic scenarios at 10-100 Hz using a variety of sensor modalities such as high-resolution color and grayscale stereo cameras, a Velodyne 3D laser scanner and a high-precision GPS/IMU inertial navigation system. The scenarios are diverse, capturing real-world traffic situations, and range from freeways over rural areas to inner-city scenes with many static and dynamic objects. Our data is calibrated, synchronized and timestamped, and we provide the rectified and raw image sequences. Our dataset also contains object labels in the form of 3D tracklets, and we provide online benchmarks for stereo, optical flow, object detection and other tasks. This paper describes our recording platform, the data format and the utilities that we provide.

Reliable Computation Offloading for Edge-Computing-Enabled Software-Defined IoV Internet of Vehicles (IoV) has drawn great interest recent years. Various IoV applications have emerged for improving the safety, efficiency, and comfort on the road. Cloud computing constitutes a popular technique for supporting delay-tolerant entertainment applications. However, for advanced latency-sensitive applications (e.g., auto/assisted driving and emergency failure management), cloud computing may result in excessive delay. Edge computing, which extends computing and storage capabilities to the edge of the network, emerges as an attractive technology. Therefore, to support these computationally intensive and latency-sensitive applications in IoVs, in this article, we integrate mobile-edge computing nodes (i.e., mobile vehicles) and fixed edge computing nodes (i.e., fixed road infrastructures) to provide low-latency computing services cooperatively. For better exploiting these heterogeneous edge computing resources, the concept of software-defined networking (SDN) and edge-computing-aided IoV (EC-SDIoV) is conceived. Moreover, in a complex and dynamic IoV environment, the outage of both processing nodes and communication links becomes inevitable, which may have life-threatening consequences. In order to ensure the completion with high reliability of latency-sensitive IoV services, we introduce both partial computation offloading and reliable task allocation with the reprocessing mechanism to EC-SDIoV. Since the optimization problem is nonconvex and NP-hard, a heuristic algorithm, fault-tolerant particle swarm optimization algorithm is designed for maximizing the reliability (FPSO-MR) with latency constraints. Performance evaluation results validate that the proposed scheme is indeed capable of reducing the latency as well as improving the reliability of the EC-SDIoV.

Computer intrusion detection through EWMA for autocorrelated and uncorrelated data Reliability and quality of service from information systems has been threatened by cyber intrusions. To protect information systems from intrusions and thus assure reliability and quality of service, it is highly desirable to develop techniques that detect intrusions. Many intrusions manifest in anomalous changes in intensity of events occurring in information systems. In this study, we apply, tes...

An evaluation of direct attacks using fake fingers generated from ISO templates This work reports a vulnerability evaluation of a highly competitive ISO matcher to direct attacks carried out with fake fingers generated from ISO templates. Experiments are carried out on a fingerprint database acquired in a real-life scenario and show that the evaluated system is highly vulnerable to the proposed attack scheme, granting access in over 75% of the attempts (for a high-security operating point). Thus, the study disproves the popular belief of minutiae templates non-reversibility and raises a key vulnerability issue in the use of non-encrypted standard templates. (This article is an extended version of Galbally et al., 2008, which was awarded with the IBM Best Student Paper Award in the track of Biometrics at ICPR 2008).

Collaborative Mobile Charging The limited battery capacity of sensor nodes has become one of the most critical impediments that stunt the deployment of wireless sensor networks (WSNs). Recent breakthroughs in wireless energy transfer and rechargeable lithium batteries provide a promising alternative to power WSNs: mobile vehicles/robots carrying high volume batteries serve as mobile chargers to periodically deliver energy to sensor nodes. In this paper, we consider how to schedule multiple mobile chargers to optimize energy usage effectiveness, such that every sensor will not run out of energy. We introduce a novel charging paradigm, collaborative mobile charging, where mobile chargers are allowed to intentionally transfer energy between themselves. To provide some intuitive insights into the problem structure, we first consider a scenario that satisfies three conditions, and propose a scheduling algorithm, PushWait, which is proven to be optimal and can cover a one-dimensional WSN of infinite length. Then, we remove the conditions one by one, investigating chargers' scheduling in a series of scenarios ranging from the most restricted one to a general 2D WSN. Through theoretical analysis and simulations, we demonstrate the advantages of the proposed algorithms in energy usage effectiveness and charging coverage.

Multiple switching-time-dependent discretized Lyapunov functions/functionals methods for stability analysis of switched time-delay stochastic systems. This paper presents novel approaches for stability analysis of switched linear time-delay stochastic systems under dwell time constraint. Instead of using comparison principle, piecewise switching-time-dependent discretized Lyapunov functions/functionals are introduced to analyze the stability of switched stochastic systems with constant or time-varying delays. These Lyapunov functions/functionals are decreasing during the dwell time and non-increasing at switching instants, which lead to two mode-dependent dwell-time-based delay-independent stability criteria for the switched systems without restricting the stability of the subsystems. Comparison and numerical examples are provided to show the efficiency of the proposed results.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Energy Efficiency Resource Allocation For D2d Communication Network Based On Relay Selection In order to solve the problem of spectrum resource shortage and energy consumption, we put forward a new model that combines with D2D communication and energy harvesting technology: energy harvesting-aided D2D communication network under the cognitive radio (EHA-CRD), where the D2D users harvest energy from the base station and the D2D source communicate with D2D destination by D2D relays. Our goals are to investigate the maximization energy efficiency (EE) of the network by joint time allocation and relay selection while taking into the constraints of the signal-to-noise ratio of D2D and the rates of the Cellular users. During this process, the energy collection time and communication time are randomly allocated. The maximization problem of EE can be divided into two sub-problems: (1) relay selection problem; (2) time optimization problem. For the first sub-problem, we propose a weighted sum maximum algorithm to select the best relay. For the last sub-problem, the EE maximization problem is non-convex problem with time. Thus, by using fractional programming theory, we transform it into a standard convex optimization problem, and we propose the optimization iterative algorithm to solve the convex optimization problem for obtaining the optimal solution. And, the simulation results show that the proposed relay selection algorithm and time optimization algorithm are significantly improved compared with the existing algorithms.

Reliable Computation Offloading for Edge-Computing-Enabled Software-Defined IoV Internet of Vehicles (IoV) has drawn great interest recent years. Various IoV applications have emerged for improving the safety, efficiency, and comfort on the road. Cloud computing constitutes a popular technique for supporting delay-tolerant entertainment applications. However, for advanced latency-sensitive applications (e.g., auto/assisted driving and emergency failure management), cloud computing may result in excessive delay. Edge computing, which extends computing and storage capabilities to the edge of the network, emerges as an attractive technology. Therefore, to support these computationally intensive and latency-sensitive applications in IoVs, in this article, we integrate mobile-edge computing nodes (i.e., mobile vehicles) and fixed edge computing nodes (i.e., fixed road infrastructures) to provide low-latency computing services cooperatively. For better exploiting these heterogeneous edge computing resources, the concept of software-defined networking (SDN) and edge-computing-aided IoV (EC-SDIoV) is conceived. Moreover, in a complex and dynamic IoV environment, the outage of both processing nodes and communication links becomes inevitable, which may have life-threatening consequences. In order to ensure the completion with high reliability of latency-sensitive IoV services, we introduce both partial computation offloading and reliable task allocation with the reprocessing mechanism to EC-SDIoV. Since the optimization problem is nonconvex and NP-hard, a heuristic algorithm, fault-tolerant particle swarm optimization algorithm is designed for maximizing the reliability (FPSO-MR) with latency constraints. Performance evaluation results validate that the proposed scheme is indeed capable of reducing the latency as well as improving the reliability of the EC-SDIoV.

Wireless Multicast Using Relays: Incentive Mechanism and Analysis In wireless multicast systems, cooperative multicast, in which successful users help to relay received packets to unsuccessful users, has been shown to be effective in combating channel fading and improving system performance. However, this mechanism requires the users' voluntary contributions, which cannot be guaranteed since users are selfish and only care about their own performance. Furthermore, users may have heterogeneous costs (which are their private information) to forward packets, and they may lie about their costs if cheating can improve their utilities. To address these problems, in this paper, we model the interaction among users in the wireless multicast system as a multiseller multibuyer payment-based game, where users pay to receive relay service and get paid if they forward packets to others. A simplified case with homogeneous users that have the same cost to forward packets is investigated first. Then, for the case with heterogeneous users, to encourage users to tell their true costs, we use the second-price sealed-bid auction, which is a truth-telling auction, since bidding the true cost is a weakly dominant strategy. To analyze the multiseller multibuyer payment-based game, we observe that under different selected prices, the game can converge to different equilibria, resulting in different user free-riding probabilities and system throughput. We also study the price selection problem and derive the optimal price that maximizes the system throughput. Simulation results show the effectiveness of our proposed mechanism.

User-centric ultra-dense networks for 5G: challenges, methodologies, and directions. Ultra-dense networking (UDN) is considered as a promising technology for 5G. In this article, we define user-centric UDN (UUDN) by introducing the philosophy of the network serving user and the \"de-cellular\" method. Based on the analysis of challenges and requirements of UUDN, a new architecture is presented that breaks through the traditional cellular architecture of the network controlling user. Dynamic AP grouping is proposed as the core function of UUDN, through which a user could enjoy satisfactory and secure service following her movement. Furthermore, we provide methods for mobility management, resource management, interference management, and security issues. We point out that these functions should be co-designed and jointly optimized in order to improve the system throughput with higher resource utilization, better user experience, and increased energy efficiency. Finally, future works in UUDN are discussed.

A new method of data missing estimation with FNN-based tensor heterogeneous ensemble learning for internet of vehicle The Internet of Vehicles (IoV) can obtain traffic information through a large number of data collected by sensors. However, the lack of data, abnormal data, and other low-quality problems have seriously restricted the development and application of the IoV. To solve the problem of missing data in a large-scale road network, the previous research achievements show that tensor decomposition method has the advantages in solving multi-dimensional data imputation problems, so we adopt this tensor mode to model traffic velocity data. A new method of data missing estimation with tensor heterogeneous ensemble learning based on FNN (Fuzzy Neural Network) named FNNTEL is proposed in this paper. The performance of this method is evaluated by our experiments and analysis. The proposed method is applied to be tested by the real data captured in Guangzhou and Tianjin of China respectively. A large number of experimental tests show that the performance of the new method is better than other commonly used technologies and different missing data generation models.

Occlusion-Aware Detection For Internet Of Vehicles In Urban Traffic Sensing Systems Vehicle detection is a fundamental challenge in urban traffic surveillance video. Due to the powerful representation ability of convolution neural network (CNN), CNN-based detection approaches have achieve incredible success on generic object detection. However, they can't deal well with vehicle occlusion in complex urban traffic scene. In this paper, we present a new occlusion-aware vehicle detection CNN framework, which is an effective and efficient framework for vehicle detection. First, we concatenate the low-level and high-level feature maps to capture more robust feature representation, then we fuse the local and global feature maps for handling vehicle occlusion, the context information is also been adopted in our framework. Extensive experiments demonstrate the competitive performance of our proposed framework. Our methods achieve better effect than primal Faster R-CNN in terms of accuracy on a new urban traffic surveillance dataset (UTSD) which contains a mass of occlusion vehicles and complex scenes.

Probabilistic encryption A new probabilistic model of data encryption is introduced. For this model, under suitable complexity assumptions, it is proved that extracting any information about the cleartext from the cyphertext is hard on the average for an adversary with polynomially bounded computational resources. The proof holds for any message space with any probability distribution. The first implementation of this model is presented. The security of this implementation is proved under the interactability assumptin of deciding Quadratic Residuosity modulo composite numbers whose factorization is unknown.

A powerful and efficient algorithm for numerical function optimization: artificial bee colony (ABC) algorithm Swarm intelligence is a research branch that models the population of interacting agents or swarms that are able to self-organize. An ant colony, a flock of birds or an immune system is a typical example of a swarm system. Bees' swarming around their hive is another example of swarm intelligence. Artificial Bee Colony (ABC) Algorithm is an optimization algorithm based on the intelligent behaviour of honey bee swarm. In this work, ABC algorithm is used for optimizing multivariable functions and the results produced by ABC, Genetic Algorithm (GA), Particle Swarm Algorithm (PSO) and Particle Swarm Inspired Evolutionary Algorithm (PS-EA) have been compared. The results showed that ABC outperforms the other algorithms.

BeCome: Blockchain-Enabled Computation Offloading for IoT in Mobile Edge Computing Benefiting from the real-time processing ability of edge computing, computing tasks requested by smart devices in the Internet of Things are offloaded to edge computing devices (ECDs) for implementation. However, ECDs are often overloaded or underloaded with disproportionate resource requests. In addition, during the process of task offloading, the transmitted information is vulnerable, which can result in data incompleteness. In view of this challenge, a blockchain-enabled computation offloading method, named BeCome, is proposed in this article. Blockchain technology is employed in edge computing to ensure data integrity. Then, the nondominated sorting genetic algorithm III is adopted to generate strategies for balanced resource allocation. Furthermore, simple additive weighting and multicriteria decision making are utilized to identify the optimal offloading strategy. Finally, performance evaluations of BeCome are given through simulation experiments.

Space-time super-resolution. We propose a method for constructing a video sequence of high space-time resolution by combining information from multiple low-resolution video sequences of the same dynamic scene. Super-resolution is performed simultaneously in time and in space. By "temporal super-resolution," we mean recovering rapid dynamic events that occur faster than regular frame-rate. Such dynamic events are not visible (or else are observed incorrectly) in any of the input sequences, even if these are played in "slow-motion." The spatial and temporal dimensions are very different in nature, yet are interrelated. This leads to interesting visual trade-offs in time and space and to new video applications. These include: 1) treatment of spatial artifacts (e.g., motion-blur) by increasing the temporal resolution and 2) combination of input sequences of different space-time resolutions (e.g., NTSC, PAL, and even high quality still images) to generate a high quality video sequence. We further analyze and compare characteristics of temporal super-resolution to those of spatial super-resolution. These include: How many video cameras are needed to obtain increased resolution? What is the upper bound on resolution improvement via super-resolution? What is the temporal analogue to the spatial "ringing" effect?

The concept of flow in collaborative game-based learning Generally, high-school students have been characterized as bored and disengaged from the learning process. However, certain educational designs promote excitement and engagement. Game-based learning is assumed to be such a design. In this study, the concept of flow is used as a framework to investigate student engagement in the process of gaming and to explain effects on game performance and student learning outcome. Frequency 1550, a game about medieval Amsterdam merging digital and urban play spaces, has been examined as an exemplar of game-based learning. This 1-day game was played in teams by 216 students of three schools for secondary education in Amsterdam. Generally, these students show flow with their game activities, although they were distracted by solving problems in technology and navigation. Flow was shown to have an effect on their game performance, but not on their learning outcome. Distractive activities and being occupied with competition between teams did show an effect on the learning outcome of students: the fewer students were distracted from the game and the more they were engaged in group competition, the more students learned about the medieval history of Amsterdam. Consequences for the design of game-based learning in secondary education are discussed.

Segmentation-Based Image Copy-Move Forgery Detection Scheme In this paper, we propose a scheme to detect the copy-move forgery in an image, mainly by extracting the keypoints for comparison. The main difference to the traditional methods is that the proposed scheme first segments the test image into semantically independent patches prior to keypoint extraction. As a result, the copy-move regions can be detected by matching between these patches. The matching process consists of two stages. In the first stage, we find the suspicious pairs of patches that may contain copy-move forgery regions, and we roughly estimate an affine transform matrix. In the second stage, an Expectation-Maximization-based algorithm is designed to refine the estimated matrix and to confirm the existence of copy-move forgery. Experimental results prove the good performance of the proposed scheme via comparing it with the state-of-the-art schemes on the public databases.

Adaptive Fuzzy Control With Prescribed Performance for Block-Triangular-Structured Nonlinear Systems. In this paper, an adaptive fuzzy control method with prescribed performance is proposed for multi-input and multioutput block-triangular-structured nonlinear systems with immeasurable states. Fuzzy logic systems are adopted to identify the unknown nonlinear system functions. Adaptive fuzzy state observers are designed to solve the problem of unmeasured states, and a new observer-based output-feedb...

Design and Validation of a Cable-Driven Asymmetric Back Exosuit Lumbar spine injuries caused by repetitive lifting rank as the most prevalent workplace injury in the United States. While these injuries are caused by both symmetric and asymmetric lifting, asymmetric is often more damaging. Many back devices do not address asymmetry, so we present a new system called the Asymmetric Back Exosuit (ABX). The ABX addresses this important gap through unique design geometry and active cable-driven actuation. The suit allows the user to move in a wide range of lumbar trajectories while the “X” pattern cable routing allows variable assistance application for these trajectories. We also conducted a biomechanical analysis in OpenSim to map assistive cable force to effective lumbar torque assistance for a given trajectory, allowing for intuitive controller design in the lumbar joint space over the complex kinematic chain for varying lifting techniques. Human subject experiments illustrated that the ABX reduced lumbar erector spinae muscle activation during symmetric and asymmetric lifting by an average of 37.8% and 16.0%, respectively, compared to lifting without the exosuit. This result indicates the potential for our device to reduce lumbar injury risk.

A generation-based optimal restart strategy for surrogate-assisted social learning particle swarm optimization. Evolutionary algorithm provides a powerful tool to the solution of modern complex engineering optimization problems. In general, a great deal of evaluation effort often requires to be made in evolutionary optimization to locate a reasonable optimum. This poses a serious challenge to extend its application to computationally expensive problems. To alleviate this difficulty, surrogate-assisted evolutionary algorithms (SAEAs) have drawn great attention over the past decades. However, in order to ensure the performance of SAEAs, the use of appropriate model management is indispensable. This paper proposes a generation-based optimal restart strategy for a surrogate-assisted social learning particle swarm optimization (SL-PSO). In the proposed method, the SL-PSO restarts every few generations in the global radial-basis-function model landscape, and the best sample points archived in the database are employed to reinitialize the swarm at each restart. Promising individual with the best estimated fitness value is chosen for exact evaluation before each restart of the SL-PSO. The proposed method skillfully integrates the restart strategy, generation-based and individual-based model managements into a whole, whilst those three ingredients coordinate with each other, thus offering a powerful optimizer for the computationally expensive problems. To assess the performance of the proposed method, comprehensive experiments are conducted on a benchmark test suit of dimensions ranging from 10 to 100. Experimental results demonstrate that the proposed method shows superior performance in comparison with four state-of-the-art algorithms in a majority of benchmarks when only a limited computational budget is available.

Two-layer adaptive surrogate-assisted evolutionary algorithm for high-dimensional computationally expensive problems Surrogate-assisted evolutionary algorithms (SAEAs) have recently shown excellent ability in solving computationally expensive optimization problems. However, with the increase of dimensions of research problems, the effectiveness of SAEAs for high-dimensional problems still needs to be improved further. In this paper, a two-layer adaptive surrogate-assisted evolutionary algorithm is proposed, in which three different search strategies are adaptively executed during the iteration according to the feedback information which is proposed to measure the status of the algorithm approaching the optimal value. In the proposed method, the global GP model is used to pre-screen the offspring produced by the DE/current-to-best/1 strategy for fast convergence speed, and the DE/current-to-randbest/1 strategy is proposed to guide the global GP model to locate promising regions when the feedback information reaches a presetting threshold. Moreover, a local search strategy (DE/best/1) is used to guide the local GP model which is built by using individuals closest to the current best individual to intensively exploit the promising regions. Furthermore, a dimension reduction technique is used to construct a reasonably accurate GP model for high-dimensional expensive problems. Empirical studies on benchmark problems with 50 and 100 variables demonstrate that the proposed algorithm is able to find high-quality solutions for high-dimensional problems under a limited computational budget.

A Novel Evolutionary Sampling Assisted Optimization Method for High-Dimensional Expensive Problems Surrogate-assisted evolutionary algorithms (SAEAs) are promising methods for solving high-dimensional expensive problems. The basic idea of SAEAs is the integration of nature-inspired searching ability of evolutionary algorithms and prediction ability of surrogate models. This paper proposes a novel evolutionary sampling assisted optimization (ESAO) method which combines the two abilities to consider global exploration and local exploitation. Differential evolution is employed to generate offspring using mutation and crossover operators. A global radial basis functions surrogate model is built for prescreening of the offspring’s objective function values and identifying the best one, which will be evaluated with the true function. The best offspring will replace its parent’s position in the population if its function value is smaller than that of its parent. A local surrogate model is then built with selected current best solutions. An optimizer is applied to find the optimum of the local model. The optimal solution is then evaluated with the true function. Besides, a better point found in the local search will be added into the population in the global search. Global and local searches will alternate if one search cannot lead to a better solution. Comprehensive analysis is conducted to study the mechanism of ESAO and insights are gained on different local surrogates. The proposed algorithm is compared with two state-of-the-art SAEAs on a series of high-dimensional problems and results show that ESAO behaves better both in effectiveness and robustness on most of the test problems. Besides, ESAO is applied to an airfoil optimization problem to show its effectiveness.

Granularity-based surrogate-assisted particle swarm optimization for high-dimensional expensive optimization. Surrogate-assisted meta-heuristic algorithms have won more and more attention for solving computationally expensive problems over past decades. However, most existing surrogate-assisted meta-heuristic algorithms either require thousands of expensive exact function evaluations to obtain acceptable solutions, or focus on solving only low-dimensional expensive optimization problems. In this paper, we attempt to propose a new method to solve high-dimensional expensive optimization problems, in which the population will firstly be granulated into two subsets, i.e., coarse-grained individuals and fine-grained ones, then different approximation methods are proposed for each category, and finally a new infill criteria is adopted to select solutions that have maximum uncertainty among all coarse-grained individuals and that among all fine-grained individuals, and the solution that has minimal approximated fitness value, to be re-evaluated using the exact objective function. Experimental results comparing the proposed algorithm with a few state-of-the-art surrogate-assisted evolutionary algorithms on benchmark problems with 50 and 100 dimensions show that the proposed algorithm is able to achieve better results when solving high-dimensional multi-modal expensive problems with a limited budget on exact fitness evaluations.

Alignment-Supervised Bidimensional Attention-Based Recursive Autoencoders for Bilingual Phrase Representation. Exploiting semantic interactions between the source and target linguistic items at different levels of granularity is crucial for generating compact vector representations for bilingual phrases. To achieve this, we propose alignment-supervised bidimensional attention-based recursive autoencoders (ABattRAE) in this paper. ABattRAE first individually employs two recursive autoencoders to recover hierarchical tree structures of bilingual phrase, and treats the subphrase covered by each node on the tree as a linguistic item. Unlike previous methods, ABattRAE introduces a bidimensional attention network to measure the semantic matching degree between linguistic items of different languages, which enables our model to integrate information from all nodes by dynamically assigning varying weights to their corresponding embeddings. To ensure the accuracy of the generated attention weights in the attention network, ABattRAE incorporates word alignments as supervision signals to guide the learning procedure. Using the general stochastic gradient descent algorithm, we train our model in an end-to-end fashion, where the semantic similarity of translation equivalents is maximized while the semantic similarity of nontranslation pairs is minimized. Finally, we incorporate a semantic feature based on the learned bilingual phrase representations into a machine translation system for better translation selection. Experimental results on NIST Chinese–English and WMT English–German test sets show that our model achieves substantial improvements of up to 2.86 and 1.09 BLEU points over the baseline, respectively. Extensive in-depth analyses demonstrate the superiority of our model in learning bilingual phrase embeddings.

A Random Forest-Assisted Evolutionary Algorithm for Data-Driven Constrained Multiobjective Combinatorial Optimization of Trauma Systems. Many real-world optimization problems can be solved by using the data-driven approach only, simply because no analytic objective functions are available for evaluating candidate solutions. In this paper, we address a class of expensive data-driven constrained multiobjective combinatorial optimization problems, where the objectives and constraints can be calculated only on the basis of a large amount of data. To solve this class of problems, we propose using random forests (RFs) and radial basis function networks as surrogates to approximate both objective and constraint functions. In addition, logistic regression models are introduced to rectify the surrogate-assisted fitness evaluations and a stochastic ranking selection is adopted to further reduce the influences of the approximated constraint functions. Three variants of the proposed algorithm are empirically evaluated on multiobjective knapsack benchmark problems and two real-world trauma system design problems. Experimental results demonstrate that the variant using RF models as the surrogates is effective and efficient in solving data-driven constrained multiobjective combinatorial optimization problems.

A novel cascaded PID controller for automatic generation control analysis with renewable sources Present day power scenarios demand a high quality uninterrupted power supply and needs environmental issues to be addressed. Both concerns can be dealt with by the introduction of the renewable sources to the existing power system. Thus, automatic generation control ( AGC ) with diverse renewable sources and a modified-cascaded controller are presented in the paper. Also, a new hybrid scheme of the improved teaching learning based optimization-differential evolution ( hITLBO-DE ) algorithm is applied for providing optimization of controller parameters. A study of the system with a technique such as TLBO applied to a proportional integral derivative ( PID ), integral double derivative ( IDD ) and PIDD is compared to hITLBO-DE tuned cascaded controller with dynamic load change. The suggested methodology has been extensively applied to a 2-area system with a diverse source power system with various operation time non-linearities such as dead-band of, generation rate constraint and reheat thermal units. The multi-area system with reheat thermal plants, hydel plants and a unit of a wind-diesel combination is tested with the cascaded controller scheme with a different controller setting for each area. The variation of the load is taken within 1% to 5% of the connected load and robustness analysis is shown by modifying essential factors simultaneously by ∓ 30%. Finally, the proposed scheme of controller and optimization technique is also tested with a 5-equal area thermal system with non-linearities. The simulation results demonstrate the superiority of the proposed controller and algorithm under a dynamically changing load.

Surrogate-Assisted Cooperative Swarm Optimization of High-Dimensional Expensive Problems. Surrogate models have shown to be effective in assisting metaheuristic algorithms for solving computationally expensive complex optimization problems. The effectiveness of existing surrogate-assisted metaheuristic algorithms, however, has only been verified on low-dimensional optimization problems. In this paper, a surrogate-assisted cooperative swarm optimization algorithm is proposed, in which a...

Constrained Kalman filtering for indoor localization of transport vehicles using floor-installed HF RFID transponders Localization of transport vehicles is an important issue for many intralogistics applications. The paper presents an inexpensive solution for indoor localization of vehicles. Global localization is realized by detection of RFID transponders, which are integrated in the floor. The paper presents a novel algorithm for fusing RFID readings with odometry using Constraint Kalman filtering. The paper presents experimental results with a Mecanum based omnidirectional vehicle on a NaviFloor® installation, which includes passive HF RFID transponders. The experiments show that the proposed Constraint Kalman filter provides a similar localization accuracy compared to a Particle filter but with much lower computational expense.

Toward a theory of intrinsically motivating instruction First, a number of previous theories of intrinsic motivation are reviewed. Then, several studies of highly motivating computer games are described. These studies focus on what makes the games fun, not on what makes them educational. Finally, with this background, a rudimentary theory of intrinsically motivating instruction is developed, based on three categories: challenge, fantasy, and curiosity. Challenge is hypothesized to depend on goals with uncertain outcomes. Several ways of making outcomes uncertain are discussed, including variable difficulty level, multiple level goals, hidden information, and randomness. Fantasy is claimed to have both cognitive and emotional advantages in designing instructional environments. A distinction is made between extrinsic fantasies that depend only weakly on the skill used in a game, and intrinsic fantasies that are intimately related to the use of the skill. Curiosity is separated into sensory and cognitive components, and it is suggested that cognitive curiosity can be aroused by making learners believe their knowledge structures are incomplete, inconsistent, or unparsimonious.

Constrained Interaction and Coordination in Proximity-Limited Multiagent Systems In this paper, we consider the problem of controlling the interactions of a group of mobile agents, subject to a set of topological constraints. Assuming proximity-limited interagent communication, we leverage mobility, unlike prior work, to enable adjacent agents to interact discriminatively, i.e., to actively retain or reject communication links on the basis of constraint satisfaction. Specifically, we propose a distributed scheme that consists of hybrid controllers with discrete switching for link discrimination, coupled with attractive and repulsive potentials fields for mobility control, where constraint violation predicates form the basis for discernment. We analyze the application of constrained interaction to two canonical coordination objectives, i.e., aggregation and dispersion, with maximum and minimum node degree constraints, respectively. For each task, we propose predicates and control potentials, and examine the dynamical properties of the resulting hybrid systems. Simulation results demonstrate the correctness of our proposed methods and the ability of our framework to generate topology-aware coordinated behavior.

Stochastic Power Adaptation with Multiagent Reinforcement Learning for Cognitive Wireless Mesh Networks As the scarce spectrum resource is becoming overcrowded, cognitive radio indicates great flexibility to improve the spectrum efficiency by opportunistically accessing the authorized frequency bands. One of the critical challenges for operating such radios in a network is how to efficiently allocate transmission powers and frequency resource among the secondary users (SUs) while satisfying the quality-of-service constraints of the primary users. In this paper, we focus on the noncooperative power allocation problem in cognitive wireless mesh networks formed by a number of clusters with the consideration of energy efficiency. Due to the SUs' dynamic and spontaneous properties, the problem is modeled as a stochastic learning process. We first extend the single-agent $(Q)$-learning to a multiuser context, and then propose a conjecture-based multiagent $(Q)$-learning algorithm to achieve the optimal transmission strategies with only private and incomplete information. An intelligent SU performs $(Q)$-function updates based on the conjecture over the other SUs' stochastic behaviors. This learning algorithm provably converges given certain restrictions that arise during the learning procedure. Simulation experiments are used to verify the performance of our algorithm and demonstrate its effectiveness of improving the energy efficiency.

Vehicular Sensing Networks in a Smart City: Principles, Technologies and Applications. Given the escalating population across the globe, it has become paramount to construct smart cities, aiming for improving the management of urban flows relying on efficient information and communication technologies (ICT). Vehicular sensing networks (VSNs) play a critical role in maintaining the efficient operation of smart cities. Naturally, there are numerous challenges to be solved before the w...

Learning Feature Recovery Transformer for Occluded Person Re-Identification One major issue that challenges person re-identification (Re-ID) is the ubiquitous occlusion over the captured persons. There are two main challenges for the occluded person Re-ID problem, i.e., the interference of noise during feature matching and the loss of pedestrian information brought by the occlusions. In this paper, we propose a new approach called Feature Recovery Transformer (FRT) to address the two challenges simultaneously, which mainly consists of visibility graph matching and feature recovery transformer. To reduce the interference of the noise during feature matching, we mainly focus on visible regions that appear in both images and develop a visibility graph to calculate the similarity. In terms of the second challenge, based on the developed graph similarity, for each query image, we propose a recovery transformer that exploits the feature sets of its k-nearest neighbors in the gallery to recover the complete features. Extensive experiments across different person Re-ID datasets, including occluded, partial and holistic datasets, demonstrate the effectiveness of FRT. Specifically, FRT significantly outperforms state-of-the-art results by at least 6.2% Rank- 1 accuracy and 7.2% mAP scores on the challenging Occluded-Duke dataset.

Uplink Channel Estimation With Reduced Fronthaul Overhead in Cell-Free Massive MIMO Systems This letter focuses on the problem of uplink channel estimation with the reduced fronthaul overhead in cell-free massive multiple-input multiple-output (mMIMO) systems. First, we propose a sub-sampling scheme to reduce the dimension of fronthaul. Then, we exploit the inherent channel sparsity and model the underdetermined channel estimation problem as an off-grid sparse signal recovery problem. Finally, an enhanced sparse Bayesian learning (ESBL) channel estimation algorithm is proposed to refine the sampled grid points and recover the sparse channel iteratively. Simulation results demonstrate that the proposed algorithm achieves a significant reduction on the fronthaul overhead and offers a better channel estimation performance.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Ethical Considerations Of Applying Robots In Kindergarten Settings: Towards An Approach From A Macroperspective In child-robot interaction (cHRI) research, many studies pursue the goal to develop interactive systems that can be applied in everyday settings. For early education, increasingly, the setting of a kindergarten is targeted. However, when cHRI and research are brought into a kindergarten, a range of ethical and related procedural aspects have to be considered and dealt with. While ethical models elaborated within other human-robot interaction settings, e.g., assisted living contexts, can provide some important indicators for relevant issues, we argue that it is important to start developing a systematic approach to identify and tackle those ethical issues which rise with cHRI in kindergarten settings on a more global level and address the impact of the technology from a macroperspective beyond the effects on the individual. Based on our experience in conducting studies with children in general and pedagogical considerations on the role of the institution of kindergarten in specific, in this paper, we enfold some relevant aspects that have barely been addressed in an explicit way in current cHRI research. Four areas are analyzed and key ethical issues are identified in each area: (1) the institutional setting of a kindergarten, (2) children as a vulnerable group, (3) the caregivers' role, and (4) pedagogical concepts. With our considerations, we aim at (i) broadening the methodology of the current studies within the area of cHRI, (ii) revalidate it based on our comprehensive empirical experience with research in kindergarten settings, both laboratory and real-world contexts, and (iii) provide a framework for the development of a more systematic approach to address the ethical issues in cHRI research within kindergarten settings.

Influence of hand visualization on tool-based motor skills training in an immersive VR simulator Immersive VR technologies offer versatile training tools by recreating real-world situations in a virtual and safe environment and allowing users to have a first-person experience. The design of such training systems requires defining the most critical components to simulate, and to what extent they can be simulated successfully. One open research question for designing such systems is how to represent the user in the virtual environment, and which is the added value of this representation for training purposes. In this work, we focus on how the user's hand representation in an immersive virtual environment can impact the training of tool-based motor skills.To investigate this question, we have designed a VR trainer for a simple tool-based pick and place task. A user experiment was conducted to evaluate how the movements of the users' real hand representation influence their performance and subjective experience in the virtual environment. For that purpose, the participants performed the task on the VR simulator with two conditions: the presence or absence of their animated virtual hands representation. The results of this study show that, although users prefer to have a visual representation of their hands, they achieved similar and correlated performance in the VR system regardless of the hand representation condition. These results suggest that the presence of the user's hand representation is not necessary when performing a tool-based motor skill task in a VR trainer. These findings have practical implications for the design of VR simulators for training motor skills tasks since adding users' hand representation may require cumbersome and expensive additional devices.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Online Verification of Automated Road Vehicles Using Reachability Analysis An approach for formally verifying the safety of automated vehicles is proposed. Due to the uniqueness of each traffic situation, we verify safety online, i.e., during the operation of the vehicle. The verification is performed by predicting the set of all possible occupancies of the automated vehicle and other traffic participants on the road. In order to capture all possible future scenarios, we apply reachability analysis to consider all possible behaviors of mathematical models considering uncertain inputs (e.g., sensor noise, disturbances) and partially unknown initial states. Safety is guaranteed with respect to the modeled uncertainties and behaviors if the occupancy of the automated vehicle does not intersect that of other traffic participants for all times. The applicability of the approach is demonstrated by test drives with an automated vehicle at the Robotics Institute at Carnegie Mellon University.

Using Ontology-Based Traffic Models for More Efficient Decision Making of Autonomous Vehicles The paper describes how a high-level abstract world model can be used to support the decision-making process of an autonomous driving system. The approach uses a hierarchical world model and distinguishes between a low-level model for the trajectory planning and a high-level model for solving the traffic coordination problem. The abstract world model used in the CyberCars-2 project is presented. It is based on a topological lane segmentation and introduces relations to represent the semantic context of the traffic scenario. This makes it much easier to realize a consistent and complete driving control system, and to analyze, evaluate and simulate such a system.

Ontology-based methods for enhancing autonomous vehicle path planning We report the results of a first implementation demonstrating the use of an ontology to support reasoning about obstacles to improve the capabilities and performance of on-board route planning for autonomous vehicles. This is part of an overall effort to evaluate the performance of ontologies in different components of an autonomous vehicle within the 4D/RCS system architecture developed at NIST. Our initial focus has been on simple roadway driving scenarios where the controlled vehicle encounters potential obstacles in its path. As reported elsewhere [C. Schlenoff, S. Balakirsky, M. Uschold, R. Provine, S. Smith, Using ontologies to aid navigation planning in autonomous vehicles, Knowledge Engineering Review 18 (3) (2004) 243–255], our approach is to develop an ontology of objects in the environment, in conjunction with rules for estimating the damage that would be incurred by collisions with different objects in different situations. Automated reasoning is used to estimate collision damage; this information is fed to the route planner to help it decide whether to plan to avoid the object. We describe the results of the first implementation that integrates the ontology, the reasoner and the planner. We describe our insights and lessons learned and discuss resulting changes to our approach.

Extracting Traffic Primitives Directly from Naturalistically Logged Data for Self-Driving Applications. Developing an automated vehicle, that can handle complicated driving scenarios and appropriately interact with other road users, requires the ability to semantically learn and understand driving environment, oftentimes, based on analyzing massive amounts of naturalistic driving data. An important paradigm that allows automated vehicles to both learn from human drivers and gain insights is understa...

DeepRoad: GAN-based metamorphic testing and input validation framework for autonomous driving systems. While Deep Neural Networks (DNNs) have established the fundamentals of image-based autonomous driving systems, they may exhibit erroneous behaviors and cause fatal accidents. To address the safety issues in autonomous driving systems, a recent set of testing techniques have been designed to automatically generate artificial driving scenes to enrich test suite, e.g., generating new input images transformed from the original ones. However, these techniques are insufficient due to two limitations: first, many such synthetic images often lack diversity of driving scenes, and hence compromise the resulting efficacy and reliability. Second, for machine-learning-based systems, a mismatch between training and application domain can dramatically degrade system accuracy, such that it is necessary to validate inputs for improving system robustness. In this paper, we propose DeepRoad, an unsupervised DNN-based framework for automatically testing the consistency of DNN-based autonomous driving systems and online validation. First, DeepRoad automatically synthesizes large amounts of diverse driving scenes without using image transformation rules (e.g. scale, shear and rotation). In particular, DeepRoad is able to produce driving scenes with various weather conditions (including those with rather extreme conditions) by applying Generative Adversarial Networks (GANs) along with the corresponding real-world weather scenes. Second, DeepRoad utilizes metamorphic testing techniques to check the consistency of such systems using synthetic images. Third, DeepRoad validates input images for DNN-based systems by measuring the distance of the input and training images using their VGGNet features. We implement DeepRoad to test three well-recognized DNN-based autonomous driving systems in Udacity self-driving car challenge. The experimental results demonstrate that DeepRoad can detect thousands of inconsistent behaviors for these systems, and effectively validate input images to potentially enhance the system robustness as well.

Automatically testing self-driving cars with search-based procedural content generation Self-driving cars rely on software which needs to be thoroughly tested. Testing self-driving car software in real traffic is not only expensive but also dangerous, and has already caused fatalities. Virtual tests, in which self-driving car software is tested in computer simulations, offer a more efficient and safer alternative compared to naturalistic field operational tests. However, creating suitable test scenarios is laborious and difficult. In this paper we combine procedural content generation, a technique commonly employed in modern video games, and search-based testing, a testing technique proven to be effective in many domains, in order to automatically create challenging virtual scenarios for testing self-driving car soft- ware. Our AsFault prototype implements this approach to generate virtual roads for testing lane keeping, one of the defining features of autonomous driving. Evaluation on two different self-driving car software systems demonstrates that AsFault can generate effective virtual road networks that succeed in revealing software failures, which manifest as cars departing their lane. Compared to random testing AsFault was not only more efficient, but also caused up to twice as many lane departures.

Acclimatizing the Operational Design Domain for Autonomous Driving Systems The operational design domain (ODD) of an automated driving system (ADS) can be used to confine the environmental scope of where the ADS is safe to execute. ODD acclimatization is one of the necessary steps for validating vehicle safety in complex traffic environments. This article proposes an approach and architectural design to extract and enhance the ODD of the ADS based on the task scenario an...

Accelerated Evaluation of Automated Vehicles Safety in Lane-Change Scenarios Based on Importance Sampling Techniques Automated vehicles (AVs) must be thoroughly evaluated before their release and deployment. A widely used evaluation approach is the Naturalistic-Field Operational Test (N-FOT), which tests prototype vehicles directly on the public roads. Due to the low exposure to safety-critical scenarios, N-FOTs are time consuming and expensive to conduct. In this paper, we propose an accelerated evaluation approach for AVs. The results can be used to generate motions of the other primary vehicles to accelerate the verification of AVs in simulations and controlled experiments. Frontal collision due to unsafe cut-ins is the target crash type of this paper. Human-controlled vehicles making unsafe lane changes are modeled as the primary disturbance to AVs based on data collected by the University of Michigan Safety Pilot Model Deployment Program. The cut-in scenarios are generated based on skewed statistics of collected human driver behaviors, which generate risky testing scenarios while preserving the statistical information so that the safety benefits of AVs in nonaccelerated cases can be accurately estimated. The cross-entropy method is used to recursively search for the optimal skewing parameters. The frequencies of the occurrences of conflicts, crashes, and injuries are estimated for a modeled AV, and the achieved accelerated rate is around 2000 to 20 000. In other words, in the accelerated simulations, driving for 1000 miles will expose the AV with challenging scenarios that will take about 2 to 20 million miles of real-world driving to encounter. This technique thus has the potential to greatly reduce the development and validation time for AVs.

A survey of socially interactive robots This paper reviews “socially interactive robots”: robots for which social human–robot interaction is important. We begin by discussing the context for socially interactive robots, emphasizing the relationship to other research fields and the different forms of “social robots”. We then present a taxonomy of design methods and system components used to build socially interactive robots. Finally, we describe the impact of these robots on humans and discuss open issues. An expanded version of this paper, which contains a survey and taxonomy of current applications, is available as a technical report [T. Fong, I. Nourbakhsh, K. Dautenhahn, A survey of socially interactive robots: concepts, design and applications, Technical Report No. CMU-RI-TR-02-29, Robotics Institute, Carnegie Mellon University, 2002].

A General Equilibrium Model for Industries with Price and Service Competition This paper develops a stochastic general equilibrium inventory model for an oligopoly, in which all inventory constraint parameters are endogenously determined. We propose several systems of demand processes whose distributions are functions of all retailers' prices and all retailers' service levels. We proceed with the investigation of the equilibrium behavior of infinite-horizon models for industries facing this type of generalized competition, under demand uncertainty.We systematically consider the following three competition scenarios. (1) Price competition only: Here, we assume that the firms' service levels are exogenously chosen, but characterize how the price and inventory strategy equilibrium vary with the chosen service levels. (2) Simultaneous price and service-level competition: Here, each of the firms simultaneously chooses a service level and a combined price and inventory strategy. (3) Two-stage competition: The firms make their competitive choices sequentially. In a first stage, all firms simultaneously choose a service level; in a second stage, the firms simultaneously choose a combined pricing and inventory strategy with full knowledge of the service levels selected by all competitors. We show that in all of the above settings a Nash equilibrium of infinite-horizon stationary strategies exists and that it is of a simple structure, provided a Nash equilibrium exists in a so-called reduced game.We pay particular attention to the question of whether a firm can choose its service level on the basis of its own (input) characteristics (i.e., its cost parameters and demand function) only. We also investigate under which of the demand models a firm, under simultaneous competition, responds to a change in the exogenously specified characteristics of the various competitors by either: (i) adjusting its service level and price in the same direction, thereby compensating for price increases (decreases) by offering improved (inferior) service, or (ii) adjusting them in opposite directions, thereby simultaneously offering better or worse prices and service.

Load Scheduling and Dispatch for Aggregators of Plug-In Electric Vehicles This paper proposes an operating framework for aggregators of plug-in electric vehicles (PEVs). First, a minimum-cost load scheduling algorithm is designed, which determines the purchase of energy in the day-ahead market based on the forecast electricity price and PEV power demands. The same algorithm is applicable for negotiating bilateral contracts. Second, a dynamic dispatch algorithm is developed, used for distributing the purchased energy to PEVs on the operating day. Simulation results are used to evaluate the proposed algorithms, and to demonstrate the potential impact of an aggregated PEV fleet on the power system.

An Efficient Non-Negative Matrix-Factorization-Based Approach to Collaborative Filtering for Recommender Systems Matrix-factorization (MF)-based approaches prove to be highly accurate and scalable in addressing collaborative filtering (CF) problems. During the MF process, the non-negativity, which ensures good representativeness of the learnt model, is critically important. However, current non-negative MF (NMF) models are mostly designed for problems in computer vision, while CF problems differ from them due to their extreme sparsity of the target rating-matrix. Currently available NMF-based CF models are based on matrix manipulation and lack practicability for industrial use. In this work, we focus on developing an NMF-based CF model with a single-element-based approach. The idea is to investigate the non-negative update process depending on each involved feature rather than on the whole feature matrices. With the non-negative single-element-based update rules, we subsequently integrate the Tikhonov regularizing terms, and propose the regularized single-element-based NMF (RSNMF) model. RSNMF is especially suitable for solving CF problems subject to the constraint of non-negativity. The experiments on large industrial datasets show high accuracy and low-computational complexity achieved by RSNMF.

Driver Gaze Zone Estimation Using Convolutional Neural Networks: A General Framework and Ablative Analysis Driver gaze has been shown to be an excellent surrogate for driver attention in intelligent vehicles. With the recent surge of highly autonomous vehicles, driver gaze can be useful for determining the handoff time to a human driver. While there has been significant improvement in personalized driver gaze zone estimation systems, a generalized system which is invariant to different subjects, perspe...

Dual-objective mixed integer linear program and memetic algorithm for an industrial group scheduling problem Group scheduling problems have attracted much attention owing to their many practical applications. This work proposes a new bi-objective serial-batch group scheduling problem considering the constraints of sequence-dependent setup time, release time, and due time. It is originated from an important industrial process, i.e., wire rod and bar rolling process in steel production systems. Two objecti...

Wireless Communications with Unmanned Aerial Vehicles: Opportunities and Challenges. Wireless communication systems that include unmanned aerial vehicles promise to provide cost-effective wireless connectivity for devices without infrastructure coverage. Compared to terrestrial communications or those based on high-altitude platforms, on-demand wireless systems with low-altitude UAVs are in general faster to deploy, more flexibly reconfigured, and likely to have better communication channels due to the presence of short-range line-of-sight links. However, the utilization of highly mobile and energy-constrained UAVs for wireless communications also introduces many new challenges. In this article, we provide an overview of UAV-aided wireless communications, by introducing the basic networking architecture and main channel characteristics, highlighting the key design considerations as well as the new opportunities to be exploited.

Placement Optimization of UAV-Mounted Mobile Base Stations. In terrestrial communication networks without fixed infrastructure, unmanned aerial vehicle-mounted mobile base stations (MBSs) provide an efficient solution to achieve wireless connectivity. This letter aims to minimize the number of MBSs needed to provide wireless coverage for a group of distributed ground terminals (GTs), ensuring that each GT is within the communication range of at least one MBS. We propose a polynomial-time algorithm with successive MBS placement, where the MBSs are placed sequentially starting on the area perimeter of the uncovered GTs along a spiral path toward the center, until all GTs are covered. Numerical results show that the proposed algorithm performs favorably compared with other schemes in terms of the number of required MBSs as well as time complexity.

The Sky Is Not the Limit: LTE for Unmanned Aerial Vehicles. Many use cases of UAVs require beyond visual LOS communications. Mobile networks offer wide-area, high-speed, and secure wireless connectivity, which can enhance control and safety of UAV operations and enable beyond visual LOS use cases. In this article, we share some of our experience in LTE connectivity for low-altitude small UAVs. We first identify the typical airborne connectivity requirement...

Secure UAV-to-UAV Systems With Spatially Random UAVs. In this letter, we investigate the secrecy performance of an unmanned aerial vehicle (UAV)-to-UAV system, where a UAV acts as the source (S) transmitting information to a legitimate UAV receiver while a group of UAVs trying to eavesdrop the information delivery between S and legitimate UAV receiver. The locations of the legitimate UAV receiver and the eavesdropping UAVs are randomly distributed in...

Efficient Deployment of Multiple Unmanned Aerial Vehicles for Optimal Wireless Coverage. In this letter, the efficient deployment of multiple unmanned aerial vehicles (UAVs) acting as wireless base stations that provide coverage for ground users is analyzed. First, the downlink coverage probability for UAVs as a function of the altitude and the antenna gain is derived. Next, using circle packing theory, the 3-D locations of the UAVs is determined in a way that the total coverage area ...

Joint Optimization of UAV 3D Placement and Path Loss Factor for Energy Efficient Maximal Coverage Unmanned aerial vehicle (UAV) is a key enabler for communication systems beyond the fifth generation due to its applications in almost every field, including mobile communications and vertical industries. However, there exist many challenges in 3-D UAV placement, such as resource and power allocation, trajectory optimization, and user association. This problem becomes even more complex as UAV chan...

Radio Map-Based 3D Path Planning for Cellular-Connected UAV In this paper, we study the three-dimensional (3D) path planning for a cellular-connected unmanned aerial vehicle (UAV) to minimize its flying distance from given initial to final locations, while ensuring a target link quality in terms of the expected signal-to-interference-plus-noise ratio (SINR) at the UAV receiver with each of its associated ground base stations (GBSs) during the flight. To exploit the location-dependent and spatially varying channel as well as interference over the 3D space, we propose a new radio map based path planning framework for the UAV. Specifically, we consider the channel gain map of each GBS that provides its large-scale channel gains with uniformly sampled locations on a 3D grid, which are due to static and large-size obstacles (e.g., buildings) and thus assumed to be time-invariant. Based on the channel gain maps of GBSs as well as their loading factors, we then construct an SINR map that depicts the expected SINR levels over the sampled 3D locations. By leveraging the obtained SINR map, we proceed to derive the optimal UAV path by solving an equivalent shortest path problem (SPP) in graph theory. We further propose a grid quantization approach where the grid points in the SINR map are more coarsely sampled by exploiting the spatial channel/interference correlation over neighboring grids. Then, we solve an approximate SPP over the reduced-size SINR map (graph) with reduced complexity. Numerical results show that the proposed solution can effectively minimize the flying distance/time of the UAV subject to its communication quality constraint, and a flexible trade-off between performance and complexity can be achieved by adjusting the grid quantization ratio in the SINR map. Moreover, the proposed solution significantly outperforms various benchmark schemes without fully exploiting the channel/interference spatial distribution in the network.

Internet of Things for Smart Cities The Internet of Things (IoT) shall be able to incorporate transparently and seamlessly a large number of different and heterogeneous end systems, while providing open access to selected subsets of data for the development of a plethora of digital services. Building a general architecture for the IoT is hence a very complex task, mainly because of the extremely large variety of devices, link layer technologies, and services that may be involved in such a system. In this paper, we focus specifically to an urban IoT system that, while still being quite a broad category, are characterized by their specific application domain. Urban IoTs, in fact, are designed to support the Smart City vision, which aims at exploiting the most advanced communication technologies to support added-value services for the administration of the city and for the citizens. This paper hence provides a comprehensive survey of the enabling technologies, protocols, and architecture for an urban IoT. Furthermore, the paper will present and discuss the technical solutions and best-practice guidelines adopted in the Padova Smart City project, a proof-of-concept deployment of an IoT island in the city of Padova, Italy, performed in collaboration with the city municipality.

Energy Harvesting Sensor Nodes: Survey and Implications Sensor networks with battery-powered nodes can seldom simultaneously meet the design goals of lifetime, cost, sensing reliability and sensing and transmission coverage. Energy-harvesting, converting ambient energy to electrical energy, has emerged as an alternative to power sensor nodes. By exploiting recharge opportunities and tuning performance parameters based on current and expected energy lev...

Rich Feature Hierarchies for Accurate Object Detection and Semantic Segmentation Object detection performance, as measured on the canonical PASCAL VOC dataset, has plateaued in the last few years. The best-performing methods are complex ensemble systems that typically combine multiple low-level image features with high-level context. In this paper, we propose a simple and scalable detection algorithm that improves mean average precision (mAP) by more than 30% relative to the previous best result on VOC 2012 -- achieving a mAP of 53.3%. Our approach combines two key insights: (1) one can apply high-capacity convolutional neural networks (CNNs) to bottom-up region proposals in order to localize and segment objects and (2) when labeled training data is scarce, supervised pre-training for an auxiliary task, followed by domain-specific fine-tuning, yields a significant performance boost. Since we combine region proposals with CNNs, we call our method R-CNN: Regions with CNN features. We also present experiments that provide insight into what the network learns, revealing a rich hierarchy of image features. Source code for the complete system is available at http://www.cs.berkeley.edu/~rbg/rcnn.

On distances in uniformly random networks The distribution of Euclidean distances in Poisson point processes is determined. The main result is the density function of the distance to the n-nearest neighbor of a homogeneous process in Ropfm, which is shown to be governed by a generalized Gamma distribution. The result has many implications for large wireless networks of randomly distributed nodes

Cooperative social robots to accompany groups of people This study proposes a new model for guiding people in urban settings using multiple robots that work cooperatively. More specifically, this investigation describes the circumstances in which people might stray from the formation when following different robots' instructions. To this end, we introduce a 'prediction and anticipation model' that predicts the position of the group using a particle filter, while determining the optimal robot behavior to help people stay in the group in areas where they may become distracted. As a result, this article presents a novel approach to locally optimizing the work performed by robots and people using the minimum robots' work criterion and determining human-friendly types of movements. The guidance missions were carried out in urban areas that included multiple conflict areas and obstacles. This study also provides an analysis of robots' behavioral reactions to people by simulating different situations in the locations that were used for the investigation. The method was tested through simulations that took into account the difficulties and technological constraints derived from real-life situations. Despite these problematic issues, we were able to demonstrate the robots' effect on people in real-life situations in terms of pushing and dragging forces.

FADS: Circular/Spherical Sector based Forwarding Area Division and Adaptive Forwarding Area Selection routing protocol in WSNs. Without maintenance overhead make beaconless geographic routing protocol become an attractive routing scheme for wireless sensor networks (WSNs), however, without the knowledge of topology may result in high collision rate. In this paper, we firstly analyze the reason of CTS (Clear-To-Send) collision and classify it into Same-Slot collision and Distinct-Slot collision. Then, we proposed a novel routing protocol, Circular/Spherical Sector based Forwarding Area Division and Adaptive Forwarding Area Selection (FADS), which can avoid Distinct-Slot collision, reduce the probability of Same-Slot collision, and realize dynamic load balancing. 1) Forwarding area division ensures that every node within the same forwarding subarea is capable of hearing one another, thus avoiding Distinct-Slot collision. 2) Selecting forwarder from one of subarea decreases the number of contenders(candidates), hence the probability of Same-Slot collision is reduced. 3) Adaptive forwarding area selection dynamic channelizes the traffic to each subarea, thus realizing dynamic load balancing. Compared with related protocols, no matter in the 2D or 3D scenario, simulation results show the excellent performance of FADS in terms of packet delivery ratio, End-to-End latency, and energy consumption per packet, especially in dense networks and congested networks.

Design and Validation of a Cable-Driven Asymmetric Back Exosuit Lumbar spine injuries caused by repetitive lifting rank as the most prevalent workplace injury in the United States. While these injuries are caused by both symmetric and asymmetric lifting, asymmetric is often more damaging. Many back devices do not address asymmetry, so we present a new system called the Asymmetric Back Exosuit (ABX). The ABX addresses this important gap through unique design geometry and active cable-driven actuation. The suit allows the user to move in a wide range of lumbar trajectories while the “X” pattern cable routing allows variable assistance application for these trajectories. We also conducted a biomechanical analysis in OpenSim to map assistive cable force to effective lumbar torque assistance for a given trajectory, allowing for intuitive controller design in the lumbar joint space over the complex kinematic chain for varying lifting techniques. Human subject experiments illustrated that the ABX reduced lumbar erector spinae muscle activation during symmetric and asymmetric lifting by an average of 37.8% and 16.0%, respectively, compared to lifting without the exosuit. This result indicates the potential for our device to reduce lumbar injury risk.

A Classification Model for Sensing Human Trust in Machines Using EEG and GSR. Today, intelligent machines interact and collaborate with humans in a way that demands a greater level of trust between human and machine. A first step toward building intelligent machines that are capable of building and maintaining trust with humans is the design of a sensor that will enable machines to estimate human trust level in real time. In this article, two approaches for developing classifier-based empirical trust-sensor models are presented that specifically use electroencephalography and galvanic skin response measurements. Human subject data collected from 45 participants is used for feature extraction, feature selection, classifier training, and model validation. The first approach considers a general set of psychophysiological features across all participants as the input variables and trains a classifier-based model for each participant, resulting in a trust-sensor model based on the general feature set (i.e., a “general trust-sensor model”). The second approach considers a customized feature set for each individual and trains a classifier-based model using that feature set, resulting in improved mean accuracy but at the expense of an increase in training time. This work represents the first use of real-time psychophysiological measurements for the development of a human trust sensor. Implications of the work, in the context of trust management algorithm design for intelligent machines, are also discussed.

A predictive controller for autonomous vehicle path tracking This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure. Our study contains a comparative study between two kinematic linear predictive control strategies: The first strategy is based on the successive linearization concept, and the other strategy combines a local reference frame with an approaching path strategy. Our goal is to search for the strategy that best comprises the performance and hardware-cost criteria. For the dynamic controller, a decentralized predictive controller based on a linearized model of the vehicle is used. Practical experiments obtained using an autonomous "Mini-Baja" vehicle equipped with an embedded computing system are presented. These results confirm that the proposed MPC structure is the solution that better matches the target criteria.

An Efficient Visibility Enhancement Algorithm for Road Scenes Captured by Intelligent Transportation Systems The visibility of images of outdoor road scenes will generally become degraded when captured during inclement weather conditions. Drivers often turn on the headlights of their vehicles and streetlights are often activated, resulting in localized light sources in images capturing road scenes in these conditions. Additionally, sandstorms are also weather events that are commonly encountered when driving in some regions. In sandstorms, atmospheric sand has a propensity to irregularly absorb specific portions of a spectrum, thereby causing color-shift problems in the captured image. Traditional state-of-the-art restoration techniques are unable to effectively cope with these hazy road images that feature localized light sources or color-shift problems. In response, we present a novel and effective haze removal approach to remedy problems caused by localized light sources and color shifts, which thereby achieves superior restoration results for single hazy images. The performance of the proposed method has been proven through quantitative and qualitative evaluations. Experimental results demonstrate that the proposed haze removal technique can more effectively recover scene radiance while demanding fewer computational costs than traditional state-of-the-art haze removal techniques.

Automatic Detection and Classification of Road Lane Markings Using Onboard Vehicular Cameras This paper presents a new approach for road lane classification using an onboard camera. Initially, lane boundaries are detected using a linear–parabolic lane model, and an automatic on-the-fly camera calibration procedure is applied. Then, an adaptive smoothing scheme is applied to reduce noise while keeping close edges separated, and pairs of local maxima–minima of the gradient are used as cues to identify lane markings. Finally, a Bayesian classifier based on mixtures of Gaussians is applied to classify the lane markings present at each frame of a video sequence as dashed, solid, dashed solid, solid dashed, or double solid. Experimental results indicate an overall accuracy of over 96% using a variety of video sequences acquired with different devices and resolutions.

Pedestrian Tracking Using Online Boosted Random Ferns Learning in Far-Infrared Imagery for Safe Driving at Night. Pedestrian-vehicle accidents that occur at night are a major social problem worldwide. Advanced driver assistance systems that are equipped with cameras have been designed to automatically prevent such accidents. Among the various types of cameras used in such systems, far-infrared (FIR) cameras are favorable because they are invariant to illumination changes. Therefore, this paper focuses on a pedestrian nighttime tracking system with an FIR camera that is able to discern thermal energy and is mounted on the forward roof part of a vehicle. Since the temperature difference between the pedestrian and background depends on the season and the weather, we therefore propose two models to detect pedestrians according to the season and the weather, which are determined using Weber–Fechner's law. For tracking pedestrians, we perform real-time online learning to track pedestrians using boosted random ferns and update the trackers at each frame. In particular, we link detection responses to trajectories based on similarities in position, size, and appearance. There is no standard data set for evaluating the tracking performance using an FIR camera; thus, we created the Keimyung University tracking data set (KMUTD) by combining the KMU sudden pedestrian crossing (SPC) data set [21] for summer nights with additional tracking data for winter nights. The KMUTD contains video sequences involving a moving camera, moving pedestrians, sudden shape deformations, unexpected motion changes, and partial or full occlusions between pedestrians at night. The proposed algorithm is successfully applied to various pedestrian video sequences of the KMUTD; specifically, the proposed algorithm yields more accurate tracking performance than other existing methods.

Driving Style Recognition for Intelligent Vehicle Control and Advanced Driver Assistance: A Survey. Driver driving style plays an important role in vehicle energy management as well as driving safety. Furthermore, it is key for advance driver assistance systems development, toward increasing levels of vehicle automation. This fact has motivated numerous research and development efforts on driving style identification and classification. This paper provides a survey on driving style characterizat...

Risky Driver Recognition Based on Vehicle Speed Time Series. Risky driving is a major cause of traffic accidents. In this paper, we propose a new method that recognizes risky driving behaviors purely based on vehicle speed time series. This method first retrieves the important distribution pattern of the sampled positive speed-change (value and duration) tuples for individual drivers within different speed ranges. Then, it identifies the risky drivers based...

Driver Fatigue Detection Systems: A Review Driver fatigue has been attributed to traffic accidents; therefore, fatigue-related traffic accidents have a higher fatality rate and cause more damage to the surroundings compared with accidents where the drivers are alert. Recently, many automobile companies have installed driver assistance technologies in vehicles for driver assistance. Third party companies are also manufacturing fatigue detection devices; however, much research is still required for improvement. In the field of driver fatigue detection, continuous research is being performed and several articles propose promising results in constrained environments, still much progress is required. This paper presents state-of-the-art review of recent advancement in the field of driver fatigue detection. Methods are categorized into five groups, i.e., subjective reporting, driver biological features, driver physical features, vehicular features while driving, and hybrid features depending on the features used for driver fatigue detection. Various approaches have been compared for fatigue detection, and areas open for improvements are deduced.

The ApolloScape Dataset for Autonomous Driving Scene parsing aims to assign a class (semantic) label for each pixel in an image. It is a comprehensive analysis of an image. Given the rise of autonomous driving, pixel-accurate environmental perception is expected to be a key enabling technical piece. However, providing a large scale dataset for the design and evaluation of scene parsing algorithms, in particular for outdoor scenes, has been difficult. The per-pixel labelling process is prohibitively expensive, limiting the scale of existing ones. In this paper, we present a large-scale open dataset, ApolloScape, that consists of RGB videos and corresponding dense 3D point clouds. Comparing with existing datasets, our dataset has the following unique properties. The first is its scale, our initial release contains over 140K images - each with its per-pixel semantic mask, up to 1M is scheduled. The second is its complexity. Captured in various traffic conditions, the number of moving objects averages from tens to over one hundred (Figure 1). And the third is the 3D attribute, each image is tagged with high-accuracy pose information at cm accuracy and the static background point cloud has mm relative accuracy. We are able to label these many images by an interactive and efficient labelling pipeline that utilizes the high-quality 3D point cloud. Moreover, our dataset also contains different lane markings based on the lane colors and styles. We expect our new dataset can deeply benefit various autonomous driving related applications that include but not limited to 2D/3D scene understanding, localization, transfer learning, and driving simulation.

Online Palmprint Identification Biometrics-based personal identification is regarded as an effective method for automatically recognizing, with a high confidence, a person's identity. This paper presents a new biometric approach to online personal identification using palmprint technology. In contrast to the existing methods, our online palmprint identification system employs low-resolution palmprint images to achieve effective personal identification. The system consists of two parts: a novel device for online palmprint image acquisition and an efficient algorithm for fast palmprint recognition. A robust image coordinate system is defined to facilitate image alignment for feature extraction. In addition, a 2D Gabor phase encoding scheme is proposed for palmprint feature extraction and representation. The experimental results demonstrate the feasibility of the proposed system.

Touch Is Everywhere: Floor Surfaces as Ambient Haptic Interfaces Floor surfaces are notable for the diverse roles that they play in our negotiation of everyday environments. Haptic communication via floor surfaces could enhance or enable many computer-supported activities that involve movement on foot. In this paper, we discuss potential applications of such interfaces in everyday environments and present a haptically augmented floor component through which several interaction methods are being evaluated. We describe two approaches to the design of structured vibrotactile signals for this device. The first is centered on a musical phrase metaphor, as employed in prior work on tactile display. The second is based upon the synthesis of rhythmic patterns of virtual physical impact transients. We report on an experiment in which participants were able to identify communication units that were constructed from these signals and displayed via a floor interface at well above chance levels. The results support the feasibility of tactile information display via such interfaces and provide further indications as to how to effectively design vibrotactile signals for them.

Multimodal Feature-Based Surface Material Classification. When a tool is tapped on or dragged over an object surface, vibrations are induced in the tool, which can be captured using acceleration sensors. The tool-surface interaction additionally creates audible sound waves, which can be recorded using microphones. Features extracted from camera images provide additional information about the surfaces. We present an approach for tool-mediated surface clas...

Spatio-Temporal Graph Convolutional Networks: A Deep Learning Framework for Traffic Forecasting. Timely accurate traffic forecast is crucial for urban traffic control and guidance. Due to the high nonlinearity and complexity of traffic flow, traditional methods cannot satisfy the requirements of mid-and-long term prediction tasks and often neglect spatial and temporal dependencies. In this paper, we propose a novel deep learning framework, Spatio-Temporal Graph Convolutional Networks (STGCN), to tackle the time series prediction problem in traffic domain. Instead of applying regular convolutional and recurrent units, we formulate the problem on graphs and build the model with complete convolutional structures, which enable much faster training speed with fewer parameters. Experiments show that our model STGCN effectively captures comprehensive spatio-temporal correlations through modeling multi-scale traffic networks and consistently outperforms state-of-the-art baselines on various real-world traffic datasets.

Sustainable and Efficient Data Collection from WSNs to Cloud. The development of cloud computing pours great vitality into traditional wireless sensor networks (WSNs). The integration of WSNs and cloud computing has received a lot of attention from both academia and industry. However, collecting data from WSNs to cloud is not sustainable. Due to the weak communication ability of WSNs, uploading big sensed data to the cloud within the limited time becomes a b...

An RFID-Based Closed-Loop Wireless Power Transmission System for Biomedical Applications This brief presents a standalone closed-loop wireless power transmission system that is built around a commercial off-the-shelf (COTS) radio-frequency identification (RFID) reader (TRF7960) operating at 13.56 MHz. It can be used for inductively powering implantable biomedical devices in a closed loop. Any changes in the distance and misalignment between transmitter and receiver coils in near-field wireless power transmission can cause a significant change in the received power, which can cause either a malfunction or excessive heat dissipation. RFID circuits are often used in an open loop. However, their back telemetry capability can be utilized to stabilize the received voltage on the implant. Our measurements showed that the delivered power to the transponder was maintained at 11.2 mW over a range of 0.5 to 2 cm, while the transmitter power consumption changed from 78 mW to 1.1 W. The closed-loop system can also oppose voltage variations as a result of sudden changes in the load current.

ROSE: Robustly Safe Charging for Wireless Power Transfer One critical issue for wireless power transfer is to avoid human health impairments caused by electromagnetic radiation (EMR) exposure. The existing studies mainly focus on scheduling wireless chargers so that (expected) EMR at any point in the area does not exceed a threshold $R_t$<mml:math xmlns:mml=&#34;http://www.w3.org/1998/Math/...

Energy-Efficient Massive MIMO SWIPT-Enabled Systems This study focuses on the downlink (DL) transmission of massive multiple-input-multiple-output (MIMO) with the support of simultaneous wireless information and power transfer (SWIPT) system based on a power-splitting (PS) scheme. To reach the green design target in the concept of wireless communication networks, this paper maximizes the system’s energy efficiency (EE) using joint system-level optimization. First, the closed-form expressions of the harvested energy and achievable data rate are first derived. Then, we formulated the EE maximization problem by jointly optimizing user equipment (UE) pilot transmission time allocation, the received PS ratios, a base station (BS) transmit power allocation, and a number of BS antennas while considering the minimum data rate as user’s quality-of-service (QoS) requirement and the maximum BS power transmission constraint. However, the formulated EE maximization problem is non-convex and non-linear which is difficult to solve. Hence, we propose an efficient low-complex alternative optimization (LCAO) algorithm to solve the non-convex problem iteratively with an acceptable computational complexity level. Simulation results are provided to evaluate the derived closed-form expressions and validate the proposed LCAO algorithm’s efficiency. The optimality, convergence, and complexity of the LCAO algorithm are analytically investigated. Results indicate that the proposed LCAO algorithm outperforms the equal power allocation (EPA) scheme by 15% better EE gain and 4% better than the max-min fairness scheme when the BS power transmission capacity is higher than 3 (Watt).

Omnidirectional chargability with directional antennas Wireless Power Transfer (WPT) has received more and more attentions because of its convenience and reliability. In this paper, we first propose the notion of omnidirectional charging by which an area is omnidirectionally charged if a device with directional antennas at any position in the area with any orientation can be charged by directional chargers with power being no smaller than a given threshold. We present our empirical charging model based on field experimental results using off-the-shelf WPT products. Next, we consider the problem of detecting whether the target area achieves omnidirectional charging given a deterministic deployment of chargers. We develop piecewise constant approximation and area discretization techniques to partition the target area into subareas and approximate powers from chargers as constants. Then we propose the Minimum Coverage Set extraction technique which reduces the continuous search space to a discrete one and thereby allows a fast detection algorithm. Moreover, we consider the problem of determining the probability that the target area achieves omnidirectional charging given a random deployment of chargers. We first replace the target area by grid points on triangular lattices to reduce the search space from infinite to finite, then approximate chargers' power with reasonable relaxation, and derive an upper bound of the omnidirectional charging probability. Finally, we conduct both simulation and field experiments, and the results show that our algorithm outperforms comparison algorithms by at least 120%, and the consistency degree of our theoretical results and field experimental results is larger than 93.6%.

Multi-Antenna Wireless Powered Communication With Energy Beamforming The newly emerging wireless powered communication networks (WPCNs) have recently drawn significant attention, where radio signals are used to power wireless terminals for information transmission. In this paper, we study a WPCN where one multi-antenna access point (AP) coordinates energy transfer and information transfer to/from a set of single-antenna users. A harvest-then-transmit protocol is assumed where the AP first broadcasts wireless power to all users via energy beamforming in the downlink (DL), and then, the users send their independent information to the AP simultaneously in the uplink (UL) using their harvested energy. To optimize the users' throughput and yet guarantee their rate fairness, we maximize the minimum throughput among all users by a joint design of the DL-UL time allocation, the DL energy beamforming, and the UL transmit power allocation, as well as receive beamforming. We solve this nonconvex problem optimally by two steps. First, we fix the DL-UL time allocation and obtain the optimal DL energy beamforming, UL power allocation, and receive beamforming to maximize the minimum signal-to-interference-plus-noise ratio of all users. This problem is shown to be still nonconvex; however, we convert it equivalently to a spectral radius minimization problem, which can be solved efficiently by applying the alternating optimization based on the nonnegative matrix theory. Then, the optimal time allocation is found by a one-dimensional search to maximize the minimum rate of all users. Furthermore, two suboptimal designs of lower complexity are also proposed, and their throughput performance is compared against that of the optimal solution.

Completely derandomized self-adaptation in evolution strategies. This paper puts forward two useful methods for self-adaptation of the mutation distribution - the concepts of derandomization and cumulation. Principle shortcomings of the concept of mutative strategy parameter control and two levels of derandomization are reviewed. Basic demands on the self-adaptation of arbitrary (normal) mutation distributions are developed. Applying arbitrary, normal mutation distributions is equivalent to applying a general, linear problem encoding. The underlying objective of mutative strategy parameter control is roughly to favor previously selected mutation steps in the future. If this objective is pursued rigorously, a completely derandomized self-adaptation scheme results, which adapts arbitrary normal mutation distributions. This scheme, called covariance matrix adaptation (CMA), meets the previously stated demands. It can still be considerably improved by cumulation - utilizing an evolution path rather than single search steps. Simulations on various test functions reveal local and global search properties of the evolution strategy with and without covariance matrix adaptation. Their performances are comparable only on perfectly scaled functions. On badly scaled, non-separable functions usually a speed up factor of several orders of magnitude is observed. On moderately mis-scaled functions a speed up factor of three to ten can be expected.

Hiding Traces of Resampling in Digital Images Resampling detection has become a standard tool for forensic analyses of digital images. This paper presents new variants of image transformation operations which are undetectable by resampling detectors based on periodic variations in the residual signal of local linear predictors in the spatial domain. The effectiveness of the proposed method is supported with evidence from experiments on a large image database for various parameter settings. We benchmark detectability as well as the resulting image quality against conventional linear and bicubic interpolation and interpolation with a sinc kernel. These early findings on ldquocounter-forensicrdquo techniques put into question the reliability of known forensic tools against smart counterfeiters in general, and might serve as benchmarks and motivation for the development of much improved forensic techniques.

Fog computing and its role in the internet of things Fog Computing extends the Cloud Computing paradigm to the edge of the network, thus enabling a new breed of applications and services. Defining characteristics of the Fog are: a) Low latency and location awareness; b) Wide-spread geographical distribution; c) Mobility; d) Very large number of nodes, e) Predominant role of wireless access, f) Strong presence of streaming and real time applications, g) Heterogeneity. In this paper we argue that the above characteristics make the Fog the appropriate platform for a number of critical Internet of Things (IoT) services and applications, namely, Connected Vehicle, Smart Grid, Smart Cities, and, in general, Wireless Sensors and Actuators Networks (WSANs).

Efficient Signature Generation by Smart Cards We present a new public-key signature scheme and a corresponding authentication scheme that are based on discrete logarithms in a subgroup of units in Zp where p is a sufficiently large prime, e.g., p = 2512. A key idea is to use for the base of the discrete logarithm an integer a in Zp such that the order of a is a sufficiently large prime q, e.g., q = 2140. In this way we improve the ElGamal signature scheme in the speed of the procedures for the generation and the verification of signatures and also in the bit length of signatures. We present an efficient algorithm that preprocesses the exponentiation of a random residue modulo p.

Stabilizing a linear system by switching control with dwell time The use of networks in control systems to connect controllers and sensors/actuators has become common practice in many applications. This new technology has also posed a theoretical control problem of how to use the limited data rate of the network effectively. We consider a system where its sensor and actuator are connected by a finite data rate channel. A design method to stabilize a continuous-time, linear plant using a switching controller is proposed. In particular, to prevent the actuator from fast switching, or chattering, which can not only increase the necessary data rate but also damage the system, we employ a dwell-time switching scheme. It is shown that a systematic partition of the state-space enables us to reduce the complexity of the design problem

Effects of robotic knee exoskeleton on human energy expenditure. A number of studies discuss the design and control of various exoskeleton mechanisms, yet relatively few address the effect on the energy expenditure of the user. In this paper, we discuss the effect of a performance augmenting exoskeleton on the metabolic cost of an able-bodied user/pilot during periodic squatting. We investigated whether an exoskeleton device will significantly reduce the metabolic cost and what is the influence of the chosen device control strategy. By measuring oxygen consumption, minute ventilation, heart rate, blood oxygenation, and muscle EMG during 5-min squatting series, at one squat every 2 s, we show the effects of using a prototype robotic knee exoskeleton under three different noninvasive control approaches: gravity compensation approach, position-based approach, and a novel oscillator-based approach. The latter proposes a novel control that ensures synchronization of the device and the user. Statistically significant decrease in physiological responses can be observed when using the robotic knee exoskeleton under gravity compensation and oscillator-based control. On the other hand, the effects of position-based control were not significant in all parameters although all approaches significantly reduced the energy expenditure during squatting.

Biologically-inspired soft exosuit. In this paper, we present the design and evaluation of a novel soft cable-driven exosuit that can apply forces to the body to assist walking. Unlike traditional exoskeletons which contain rigid framing elements, the soft exosuit is worn like clothing, yet can generate moments at the ankle and hip with magnitudes of 18% and 30% of those naturally generated by the body during walking, respectively. Our design uses geared motors to pull on Bowden cables connected to the suit near the ankle. The suit has the advantages over a traditional exoskeleton in that the wearer's joints are unconstrained by external rigid structures, and the worn part of the suit is extremely light, which minimizes the suit's unintentional interference with the body's natural biomechanics. However, a soft suit presents challenges related to actuation force transfer and control, since the body is compliant and cannot support large pressures comfortably. We discuss the design of the suit and actuation system, including principles by which soft suits can transfer force to the body effectively and the biological inspiration for the design. For a soft exosuit, an important design parameter is the combined effective stiffness of the suit and its interface to the wearer. We characterize the exosuit's effective stiffness, and present preliminary results from it generating assistive torques to a subject during walking. We envision such an exosuit having broad applicability for assisting healthy individuals as well as those with muscle weakness.

Inter-class sparsity based discriminative least square regression Least square regression is a very popular supervised classification method. However, two main issues greatly limit its performance. The first one is that it only focuses on fitting the input features to the corresponding output labels while ignoring the correlations among samples. The second one is that the used label matrix, i.e., zero–one label matrix is inappropriate for classification. To solve these problems and improve the performance, this paper presents a novel method, i.e., inter-class sparsity based discriminative least square regression (ICS_DLSR), for multi-class classification. Different from other methods, the proposed method pursues that the transformed samples have a common sparsity structure in each class. For this goal, an inter-class sparsity constraint is introduced to the least square regression model such that the margins of samples from the same class can be greatly reduced while those of samples from different classes can be enlarged. In addition, an error term with row-sparsity constraint is introduced to relax the strict zero–one label matrix, which allows the method to be more flexible in learning the discriminative transformation matrix. These factors encourage the method to learn a more compact and discriminative transformation for regression and thus has the potential to perform better than other methods. Extensive experimental results show that the proposed method achieves the best performance in comparison with other methods for multi-class classification.

Attitudes Towards Social Robots In Education: Enthusiast, Practical, Troubled, Sceptic, And Mindfully Positive While social robots bring new opportunities for education, they also come with moral challenges. Therefore, there is a need for moral guidelines for the responsible implementation of these robots. When developing such guidelines, it is important to include different stakeholder perspectives. Existing (qualitative) studies regarding these perspectives however mainly focus on single stakeholders. In this exploratory study, we examine and compare the attitudes of multiple stakeholders on the use of social robots in primary education, using a novel questionnaire that covers various aspects of moral issues mentioned in earlier studies. Furthermore, we also group the stakeholders based on similarities in attitudes and examine which socio-demographic characteristics influence these attitude types. Based on the results, we identify five distinct attitude profiles and show that the probability of belonging to a specific profile is affected by such characteristics as stakeholder type, age, education and income. Our results also indicate that social robots have the potential to be implemented in education in a morally responsible way that takes into account the attitudes of various stakeholders, although there are multiple moral issues that need to be addressed first. Finally, we present seven (practical) implications for a responsible application of social robots in education following from our results. These implications provide valuable insights into how social robots should be implemented.

Poisson Arrivals See Time Averages In many stochastic models, particularly in queueing theory, Poisson arrivals both observe see a stochastic process and interact with it. In particular cases and/or under restrictive assumptions it ...

A Low-Complexity Analytical Modeling for Cross-Layer Adaptive Error Protection in Video Over WLAN We find a low-complicity and accurate model to solve the problem of optimizing MAC-layer transmission of real-time video over wireless local area networks (WLANs) using cross-layer techniques. The objective in this problem is to obtain the optimal MAC retry limit in order to minimize the total packet loss rate. First, the accuracy of Fluid and M/M/1/K analytical models is examined. Then we derive a closed-form expression for service time in WLAN MAC transmission, and will use this in mathematical formulation of our optimization problem based on M/G/1 model. Subsequently we introduce an approximate and simple formula for MAC-layer service time, which leads to the M/M/1 model. Compared with M/G/1, we particularly show that our M/M/1-based model provides a low-complexity and yet quite accurate means for analyzing MAC transmission process in WLAN. Using our M/M/1 model-based analysis, we derive closed-form formulas for the packet overflow drop rate and optimum retry-limit. These closed-form expressions can be effectively invoked for analyzing adaptive retry-limit algorithms. Simulation results (network simulator-2) will verify the accuracy of our analytical models.

Dynamic priority protocols for packet voice Since the reconstruction of continuous speech from voice packets is complicated by the variable delays of the packets through the network, a dynamic priority protocol is proposed to minimize the variability of packet delays. The protocol allows the priority of a packet to vary with time. After a discussion of the concept of dynamic priorities, two examples of dynamic priorities are studied through queueing analysis and simulations. Optimal properties of the oldest customer first (OCF) and earliest deadline first (EDF) disciplines are proven, suggesting that they may be theoretically effective in reducing the variability of packet delays. Simulation results of the OCF discipline indicate that the OCF discipline is most effective under conditions of long routes and heavy traffic, i.e., the conditions when delay variability is most likely to be significant. Under OCF, the delays of packets along long routes are improved at the expense of packets along short routes. It is noted that more complex and realistic simulations, including simulations of the EDF discipline, are needed

The Age of Information in Multihop Networks. Information updates in multihop networks such as Internet of Things (IoT) and intelligent transportation systems have received significant recent attention. In this paper, we minimize the age of a single information flow in interference-free multihop networks. When preemption is allowed and the packet transmission times are exponentially distributed, we prove that a preemptive last-generated, first-served (LGFS) policy results in smaller age processes across all nodes in the network than any other causal policy (in a stochastic ordering sense). In addition, for the class of new-better-than-used (NBU) distributions, we show that the non-preemptive LGFS policy is within a constant age gap from the optimum average age. In contrast, our numerical result shows that the preemptive LGFS policy can be very far from the optimum for some NBU transmission time distributions. Finally, when preemption is prohibited and the packet transmission times are arbitrarily distributed, the non-preemptive LGFS policy is shown to minimize the age processes across all nodes in the network among all work-conserving policies (again in a stochastic ordering sense). Interestingly, these results hold under quite general conditions, including 1) arbitrary packet generation and arrival times, and 2) for minimizing both the age processes in stochastic ordering and any non-decreasing functional of the age processes.

Queue Management for Age Sensitive Status Updates We consider a system consisting of a source-destination communication link. At the transmitter of the source there is a buffer that stores packets containing status information. These randomly generated packets should keep the destination timely updated and they can be discarded to avoid wasting network resources for the transmission of stale information. In this setup, we provide an analysis of the age of information (AoI) and peak age of information (PAoI) performance of the system, with and without packet management at the transmission queue of the source node. The analysis indicates the potential performance gains obtained with the use of packet management.

Age of information in a decentralized network of parallel queues with routing and packets losses The paper deals with age of information (AoI) in a network of multiple sources and parallel queues with buffering capabilities, preemption in service and losses in served packets. The queues do not communicate between each other and the packets are dispatched through the queues according to a predefined probabilistic routing. By making use of the stochastic hybrid system (SHS) method, we provide a...

Probabilistic encryption A new probabilistic model of data encryption is introduced. For this model, under suitable complexity assumptions, it is proved that extracting any information about the cleartext from the cyphertext is hard on the average for an adversary with polynomially bounded computational resources. The proof holds for any message space with any probability distribution. The first implementation of this model is presented. The security of this implementation is proved under the interactability assumptin of deciding Quadratic Residuosity modulo composite numbers whose factorization is unknown.

Theory and Applications of Robust Optimization In this paper we survey the primary research, both theoretical and applied, in the area of robust optimization (RO). Our focus is on the computational attractiveness of RO approaches, as well as the modeling power and broad applicability of the methodology. In addition to surveying prominent theoretical results of RO, we also present some recent results linking RO to adaptable models for multistage decision-making problems. Finally, we highlight applications of RO across a wide spectrum of domains, including finance, statistics, learning, and various areas of engineering.

Revenue-optimal task scheduling and resource management for IoT batch jobs in mobile edge computing With the growing prevalence of Internet of Things (IoT) devices and technology, a burgeoning computing paradigm namely mobile edge computing (MEC) is delicately proposed and designed to accommodate the application requirements of IoT scenario. In this paper, we focus on the problems of dynamic task scheduling and resource management in MEC environment, with the specific objective of achieving the optimal revenue earned by edge service providers. While the majority of task scheduling and resource management algorithms are formulated by an integer programming (IP) problem and solved in a dispreferred NP-hard manner, we innovatively investigate the problem structure and identify a favorable property namely totally unimodular constraints. The totally unimodular property further helps to design an equivalent linear programming (LP) problem which can be efficiently and elegantly solved at polynomial computational complexity. In order to evaluate our proposed approach, we conduct simulations based on real-life IoT dataset to verify the effectiveness and efficiency of our approach.

Space-time super-resolution. We propose a method for constructing a video sequence of high space-time resolution by combining information from multiple low-resolution video sequences of the same dynamic scene. Super-resolution is performed simultaneously in time and in space. By "temporal super-resolution," we mean recovering rapid dynamic events that occur faster than regular frame-rate. Such dynamic events are not visible (or else are observed incorrectly) in any of the input sequences, even if these are played in "slow-motion." The spatial and temporal dimensions are very different in nature, yet are interrelated. This leads to interesting visual trade-offs in time and space and to new video applications. These include: 1) treatment of spatial artifacts (e.g., motion-blur) by increasing the temporal resolution and 2) combination of input sequences of different space-time resolutions (e.g., NTSC, PAL, and even high quality still images) to generate a high quality video sequence. We further analyze and compare characteristics of temporal super-resolution to those of spatial super-resolution. These include: How many video cameras are needed to obtain increased resolution? What is the upper bound on resolution improvement via super-resolution? What is the temporal analogue to the spatial "ringing" effect?

Data-Driven Intelligent Transportation Systems: A Survey For the last two decades, intelligent transportation systems (ITS) have emerged as an efficient way of improving the performance of transportation systems, enhancing travel security, and providing more choices to travelers. A significant change in ITS in recent years is that much more data are collected from a variety of sources and can be processed into various forms for different stakeholders. The availability of a large amount of data can potentially lead to a revolution in ITS development, changing an ITS from a conventional technology-driven system into a more powerful multifunctional data-driven intelligent transportation system (D2ITS) : a system that is vision, multisource, and learning algorithm driven to optimize its performance. Furthermore, D2ITS is trending to become a privacy-aware people-centric more intelligent system. In this paper, we provide a survey on the development of D2ITS, discussing the functionality of its key components and some deployment issues associated with D2ITS Future research directions for the development of D2ITS is also presented.

Online Prediction of Driver Distraction Based on Brain Activity Patterns This paper presents a new computational framework for early detection of driver distractions (map viewing) using brain activity measured by electroencephalographic (EEG) signals. Compared with most studies in the literature, which are mainly focused on the classification of distracted and nondistracted periods, this study proposes a new framework to prospectively predict the start and end of a distraction period, defined by map viewing. The proposed prediction algorithm was tested on a data set of continuous EEG signals recorded from 24 subjects. During the EEG recordings, the subjects were asked to drive from an initial position to a destination using a city map in a simulated driving environment. The overall accuracy values for the prediction of the start and the end of map viewing were 81% and 70%, respectively. The experimental results demonstrated that the proposed algorithm can predict the start and end of map viewing with relatively high accuracy and can be generalized to individual subjects. The outcome of this study has a high potential to improve the design of future intelligent navigation systems. Prediction of the start of map viewing can be used to provide route information based on a driver's needs and consequently avoid map-viewing activities. Prediction of the end of map viewing can be used to provide warnings for potential long map-viewing durations. Further development of the proposed framework and its applications in driver-distraction predictions are also discussed.

A robust medical image watermarking against salt and pepper noise for brain MRI images. The ever-growing numbers of medical digital images and the need to share them among specialists and hospitals for better and more accurate diagnosis require that patients' privacy be protected. During the transmission of medical images between hospitals or specialists through the network, the main priority is to protect a patient's documents against any act of tampering by unauthorised individuals. Because of this, there is a need for medical image authentication scheme to enable proper diagnosis on patient. In addition, medical images are also susceptible to salt and pepper impulse noise through the transmission in communication channels. This noise may also be intentionally used by the invaders to corrupt the embedded watermarks inside the medical images. A common drawback of existing watermarking methods is their weakness against salt and pepper noise. The research carried out in this work addresses the issue of designing a new watermarking method that can withstand high density of salt and pepper noise for brain MRI images. For this purpose, combination of a spatial domain watermarking method, channel coding and noise filtering schemes are used. The region of non-interest (RONI) of MRI images from five different databases are used as embedding area and electronic patient record (EPR) is considered as embedded data. The quality of watermarked image is evaluated using Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index (SSIM), and the accuracy of the extracted watermark is assessed in terms of Bit Error Rate (BER).

Social Robots for (Second) Language Learning in (Migrant) Primary School Children Especially these days, innovation and support from technology to relieve pressure in education is highly urgent. This study tested the potential advantage of a social robot over a tablet in (second) language learning on performance, engagement, and enjoyment. Shortages in primary education call for new technology solutions. Previous studies combined robots with tablets, to compensate for robot’s limitations, however, this study applied direct human–robot interaction. Primary school children (N = 63, aged 4–6) participated in a 3-wave field experiment with story-telling exercises, either with a semi-autonomous robot (without tablet, using WOz) or a tablet. Results showed increased learning gains over time when training with a social robot, compared to the tablet. Children who trained with a robot were more engaged in the story-telling task and enjoyed it more. Robot’s behavioral style (social or neutral) hardly differed overall, however, seems to vary for high versus low educational abilities. While social robots need sophistication before being implemented in schools, our study shows the potential of social robots as tutors in (second) language learning.

Simplifying Exosuits: Kinematic Couplings in the Upper Extremity during Daily Living Tasks In the past few years, several light-weight soft wearable robots, so called exosuits, for upper extremity assistance have been developed. The design of exosuits is often based on a bio-mimetic design approach, mimicking the human biomechanics. However, in the design process, the interactions of movement directions during daily living tasks have not yet been analyzed comprehensively. Therefore, the designs of exosuits might be overly complex, as movement directions that are coupled during daily life tasks were implemented independently; or lack functionality, as relevant movement directions were disregarded. In the meta-analysis presented in this paper, the maximum angles occurring during daily living tasks in the upper extremity of unimpaired individuals were examined. To identify the kinematic couplings between joint axes, the interactions between movement directions that act against gravity were analyzed. The strongest correlations were found between rotation in the plane of elevation and humeral axial rotation (R <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> = 0.82, p <; 0.001), and between humeral elevation and humeral axial rotation (R <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> = 0.16, p = 0.001). Shoulder rotations and elbow flexion were not correlated. We conclude that humeral axial rotation is a relevant movement direction in the upper extremity, which, so far, has often been neglected in the design of exosuits. To simplify the design of exosuits, we propose a one degree of freedom support trajectory in which rotation in the plane of elevation (at 70° and 80°) and humeral axial rotation (at 110° and 60°) are coupled to humeral elevation (continuously from 40° to 110°).

Minimum jerk trajectory control for rehabilitation and haptic applications Smooth trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain the upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges Wearable robots are undergoing a disruptive transition, from the rigid machines that populated the science-fiction world in the early 1980s to lightweight robotic apparel, hardly distinguishable from our daily clothes. In less than a decade of development, soft robotic suits have achieved important results in human motor assistance and augmentation. In this article, we start by giving a definition of soft robotic suits and proposing a taxonomy to classify existing systems. We then critically review the modes of actuation, the physical human–robot interface and the intention-detection strategies of state-of-the-art soft robotic suits, highlighting the advantages and limitations of different approaches. Finally, we discuss the impact of this new technology on human movements, for both augmenting human function and supporting motor impairments, and identify areas that are in need of further development.

Stronger, Smarter, Softer: Next-Generation Wearable Robots. Exosuits show much promise as a method for augmenting the body with lightweight, portable, and compliant wearable systems. We envision that such systems can be further refined so that they can be sufficiently low profile to fit under a wearer's existing clothing. Our focus is on creating an assistive device that provides a fraction of the nominal biological torques and does not provide external load transfer. In early work, we showed that the system can substantially maintain normal biomechanics and positively affect a wearer's metabolic rate. Many basic fundamental research and development challenges remain in actuator development, textile innovation, soft sensor development, human-machine interface (control), biomechanics, and physiology, which provides fertile ground for academic research in many disciplines. While we have focused on gait assistance thus far, numerous other applications are possible, including rehabilitation, upper body support, and assistance for other motions. We look forward to a future where wearable robots provide benefits for people across many areas of our society.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Hamming Embedding and Weak Geometric Consistency for Large Scale Image Search This paper improves recent methods for large scale image search. State-of-the-art methods build on the bag-of-features image representation. We, first, analyze bag-of-features in the framework of approximate nearest neighbor search. This shows the sub-optimality of such a representation for matching descriptors and leads us to derive a more precise representation based on 1) Hamming embedding (HE) and 2) weak geometric consistency constraints (WGC). HE provides binary signatures that refine the matching based on visual words. WGC filters matching descriptors that are not consistent in terms of angle and scale. HE and WGC are integrated within the inverted file and are efficiently exploited for all images, even in the case of very large datasets. Experiments performed on a dataset of one million of images show a significant improvement due to the binary signature and the weak geometric consistency constraints, as well as their efficiency. Estimation of the full geometric transformation, i.e., a re-ranking step on a short list of images, is complementary to our weak geometric consistency constraints and allows to further improve the accuracy.

Wireless Body Area Networks: A Survey Recent developments and technological advancements in wireless communication, MicroElectroMechanical Systems (MEMS) technology and integrated circuits has enabled low-power, intelligent, miniaturized, invasive/non-invasive micro and nano-technology sensor nodes strategically placed in or around the human body to be used in various applications, such as personal health monitoring. This exciting new area of research is called Wireless Body Area Networks (WBANs) and leverages the emerging IEEE 802.15.6 and IEEE 802.15.4j standards, specifically standardized for medical WBANs. The aim of WBANs is to simplify and improve speed, accuracy, and reliability of communication of sensors/actuators within, on, and in the immediate proximity of a human body. The vast scope of challenges associated with WBANs has led to numerous publications. In this paper, we survey the current state-of-art of WBANs based on the latest standards and publications. Open issues and challenges within each area are also explored as a source of inspiration towards future developments in WBANs.

General Inner Approximation Algorithm For Non-Convex Mathematical Programs Inner approximation algorithms have had two major roles in the mathematical programming literature. Their first role was in the construction of algorithms for the decomposition of large-scale mathe...

Protecting privacy using the decentralized label model Stronger protection is needed for the confidentiality and integrity of data, because programs containing untrusted code are the rule rather than the exception. Information flow control allows the enforcement of end-to-end security policies, but has been difficult to put into practice. This article describes the decentralized label model, a new label model for control of information flow in systems with mutual distrust and decentralized authority. The model improves on existing multilevel security models by allowing users to declassify information in a decentralized way, and by improving support for fine-grained data sharing. It supports static program analysis of information flow, so that programs can be certified to permit only acceptable information flows, while largely avoiding the overhead of run-time checking. The article introduces the language Jif, an extension to Java that provides static checking of information flow using the decentralized label model.

Paraphrasing for automatic evaluation This paper studies the impact of paraphrases on the accuracy of automatic evaluation. Given a reference sentence and a machine-generated sentence, we seek to find a paraphrase of the reference sentence that is closer in wording to the machine output than the original reference. We apply our paraphrasing method in the context of machine translation evaluation. Our experiments show that the use of a paraphrased synthetic reference refines the accuracy of automatic evaluation. We also found a strong connection between the quality of automatic paraphrases as judged by humans and their contribution to automatic evaluation.

Efficient Boustrophedon Multi-Robot Coverage: an algorithmic approach This paper presents algorithmic solutions for the complete coverage path planning problem using a team of mobile robots. Multiple robots decrease the time to complete the coverage, but maximal efficiency is only achieved if the number of regions covered multiple times is minimized. A set of multi-robot coverage algorithms is presented that minimize repeat coverage. The algorithms use the same planar cell-based decomposition as the Boustrophedon single robot coverage algorithm, but provide extensions to handle how robots cover a single cell, and how robots are allocated among cells. Specifically, for the coverage task our choice of multi-robot policy strongly depends on the type of communication that exists between the robots. When the robots operate under the line-of-sight communication restriction, keeping them as a team helps to minimize repeat coverage. When communication between the robots is available without any restrictions, the robots are initially distributed through space, and each one is allocated a virtually-bounded area to cover. A greedy auction mechanism is used for task/cell allocation among the robots. Experimental results from different simulated and real environments that illustrate our approach for different communication conditions are presented.

Global Adaptive Dynamic Programming for Continuous-Time Nonlinear Systems This paper presents a novel method of global adaptive dynamic programming (ADP) for the adaptive optimal control of nonlinear polynomial systems. The strategy consists of relaxing the problem of solving the Hamilton-Jacobi-Bellman (HJB) equation to an optimization problem, which is solved via a new policy iteration method. The proposed method distinguishes from previously known nonlinear ADP methods in that the neural network approximation is avoided, giving rise to signicant computational improvement. Instead of semiglobally or locally stabilizing, the resultant control policy is globally stabilizing for a general class of nonlinear polynomial systems. Furthermore, in the absence of the a priori knowledge of the system dynamics, an online learning method is devised to implement the proposed policy iteration technique by generalizing the current ADP theory. Finally, three numerical examples are provided to validate the effectiveness of the proposed method.

Collective feature selection to identify crucial epistatic variants. In this study, we were able to show that selecting variables using a collective feature selection approach could help in selecting true positive epistatic variables more frequently than applying any single method for feature selection via simulation studies. We were able to demonstrate the effectiveness of collective feature selection along with a comparison of many methods in our simulation analysis. We also applied our method to identify non-linear networks associated with obesity.

Ethical Considerations Of Applying Robots In Kindergarten Settings: Towards An Approach From A Macroperspective In child-robot interaction (cHRI) research, many studies pursue the goal to develop interactive systems that can be applied in everyday settings. For early education, increasingly, the setting of a kindergarten is targeted. However, when cHRI and research are brought into a kindergarten, a range of ethical and related procedural aspects have to be considered and dealt with. While ethical models elaborated within other human-robot interaction settings, e.g., assisted living contexts, can provide some important indicators for relevant issues, we argue that it is important to start developing a systematic approach to identify and tackle those ethical issues which rise with cHRI in kindergarten settings on a more global level and address the impact of the technology from a macroperspective beyond the effects on the individual. Based on our experience in conducting studies with children in general and pedagogical considerations on the role of the institution of kindergarten in specific, in this paper, we enfold some relevant aspects that have barely been addressed in an explicit way in current cHRI research. Four areas are analyzed and key ethical issues are identified in each area: (1) the institutional setting of a kindergarten, (2) children as a vulnerable group, (3) the caregivers' role, and (4) pedagogical concepts. With our considerations, we aim at (i) broadening the methodology of the current studies within the area of cHRI, (ii) revalidate it based on our comprehensive empirical experience with research in kindergarten settings, both laboratory and real-world contexts, and (iii) provide a framework for the development of a more systematic approach to address the ethical issues in cHRI research within kindergarten settings.

Multi-objective Infill Criterion Driven Gaussian Process Assisted Particle Swarm Optimization of High-dimensional Expensive Problems Model management plays an essential role in surrogate-assisted evolutionary optimization of expensive problems, since the strategy for selecting individuals for fitness evaluation using the real objective function has substantial influences on the final performance. Among many others, infill criterion driven Gaussian process (GP)-assisted evolutionary algorithms have been demonstrated competitive for optimization of problems with up to 50 decision variables. In this paper, a multiobjective infill criterion (MIC) that considers the approximated fitness and the approximation uncertainty as two objectives is proposed for a GP-assisted social learning particle swarm optimization algorithm. The MIC uses nondominated sorting for model management, thereby avoiding combining the approximated fitness and the approximation uncertainty into a scalar function, which is shown to be particularly important for high-dimensional problems, where the estimated uncertainty becomes less reliable. Empirical studies on 50-D and 100-D benchmark problems and a synthetic problem constructed from four real-world optimization problems demonstrate that the proposed MIC is more effective than existing scalar infill criteria for GP-assisted optimization given a limited computational budget.

Multiobjective Optimization Models for Locating Vehicle Inspection Stations Subject to Stochastic Demand, Varying Velocity and Regional Constraints Deciding an optimal location of a transportation facility and automotive service enterprise is an interesting and important issue in the area of facility location allocation (FLA). In practice, some factors, i.e., customer demands, allocations, and locations of customers and facilities, are changing, and thus, it features with uncertainty. To account for this uncertainty, some researchers have addressed the stochastic time and cost issues of FLA. A new FLA research issue arises when decision makers want to minimize the transportation time of customers and their transportation cost while ensuring customers to arrive at their desired destination within some specific time and cost. By taking the vehicle inspection station as a typical automotive service enterprise example, this paper presents a novel stochastic multiobjective optimization to address it. This work builds two practical stochastic multiobjective programs subject to stochastic demand, varying velocity, and regional constraints. A hybrid intelligent algorithm integrating stochastic simulation and multiobjective teaching-learning-based optimization algorithm is proposed to solve the proposed programs. This approach is applied to a real-world location problem of a vehicle inspection station in Fushun, China. The results show that this is able to produce satisfactory Pareto solutions for an actual vehicle inspection station location problem.

Intrinsic dimension estimation: Advances and open problems. •The paper reviews state-of-the-art of the methods of Intrinsic Dimension (ID) Estimation.•The paper defines the properties that an ideal ID estimator should have.•The paper reviews, under the above mentioned framework, the major ID estimation methods underlining their advances and the open problems.

Alignment-Supervised Bidimensional Attention-Based Recursive Autoencoders for Bilingual Phrase Representation. Exploiting semantic interactions between the source and target linguistic items at different levels of granularity is crucial for generating compact vector representations for bilingual phrases. To achieve this, we propose alignment-supervised bidimensional attention-based recursive autoencoders (ABattRAE) in this paper. ABattRAE first individually employs two recursive autoencoders to recover hierarchical tree structures of bilingual phrase, and treats the subphrase covered by each node on the tree as a linguistic item. Unlike previous methods, ABattRAE introduces a bidimensional attention network to measure the semantic matching degree between linguistic items of different languages, which enables our model to integrate information from all nodes by dynamically assigning varying weights to their corresponding embeddings. To ensure the accuracy of the generated attention weights in the attention network, ABattRAE incorporates word alignments as supervision signals to guide the learning procedure. Using the general stochastic gradient descent algorithm, we train our model in an end-to-end fashion, where the semantic similarity of translation equivalents is maximized while the semantic similarity of nontranslation pairs is minimized. Finally, we incorporate a semantic feature based on the learned bilingual phrase representations into a machine translation system for better translation selection. Experimental results on NIST Chinese–English and WMT English–German test sets show that our model achieves substantial improvements of up to 2.86 and 1.09 BLEU points over the baseline, respectively. Extensive in-depth analyses demonstrate the superiority of our model in learning bilingual phrase embeddings.

Surrogate-Assisted Evolutionary Framework for Data-Driven Dynamic Optimization Recently, dynamic optimization has received much attention from the swarm and evolutionary computation community. However, few studies have investigated data-driven evolutionary dynamic optimization, and most algorithms for evolutionary dynamic optimization are based on analytical mathematical functions. In this paper, we investigate data-driven evolutionary dynamic optimization. First, we develop a surrogate-assisted evolutionary framework for solving data-driven dynamic optimization problems (DD-DOPs). Second, we employ a benchmark based on the typical dynamic optimization problems set in order to verify the performance of the proposed framework. The experimental results demonstrate that the proposed framework is effective for solving DD-DOPs.

Data-Driven Evolutionary Optimization: An Overview and Case Studies Most evolutionary optimization algorithms assume that the evaluation of the objective and constraint functions is straightforward. In solving many real-world optimization problems, however, such objective functions may not exist. Instead, computationally expensive numerical simulations or costly physical experiments must be performed for fitness evaluations. In more extreme cases, only historical data are available for performing optimization and no new data can be generated during optimization. Solving evolutionary optimization problems driven by data collected in simulations, physical experiments, production processes, or daily life are termed data-driven evolutionary optimization. In this paper, we provide a taxonomy of different data driven evolutionary optimization problems, discuss main challenges in data-driven evolutionary optimization with respect to the nature and amount of data, and the availability of new data during optimization. Real-world application examples are given to illustrate different model management strategies for different categories of data-driven optimization problems.

A multi-fidelity surrogate-model-assisted evolutionary algorithm for computationally expensive optimization problems. Integrating data-driven surrogate models and simulation models of different accuracies (or fidelities) in a single algorithm to address computationally expensive global optimization problems has recently attracted considerable attention. However, handling discrepancies between simulation models with multiple fidelities in global optimization is a major challenge. To address it, the two major contributions of this paper include: (1) development of a new multi-fidelity surrogate-model-based optimization framework, which substantially improves reliability and efficiency of optimization compared to many existing methods, and (2) development of a data mining method to address the discrepancy between the low- and high-fidelity simulation models. A new efficient global optimization method is then proposed, referred to as multi-fidelity Gaussian process and radial basis function-model-assisted memetic differential evolution. Its advantages are verified by mathematical benchmark problems and a real-world antenna design automation problem. Crown Copyright (c) 2015 Published by Elsevier B.V. All rights reserved.

Surrogate-Assisted Cooperative Swarm Optimization of High-Dimensional Expensive Problems. Surrogate models have shown to be effective in assisting metaheuristic algorithms for solving computationally expensive complex optimization problems. The effectiveness of existing surrogate-assisted metaheuristic algorithms, however, has only been verified on low-dimensional optimization problems. In this paper, a surrogate-assisted cooperative swarm optimization algorithm is proposed, in which a...

New approach using ant colony optimization with ant set partition for fuzzy control design applied to the ball and beam system. In this paper we describe the design of a fuzzy logic controller for the ball and beam system using a modified Ant Colony Optimization (ACO) method for optimizing the type of membership functions, the parameters of the membership functions and the fuzzy rules. This is achieved by applying a systematic and hierarchical optimization approach modifying the conventional ACO algorithm using an ant set partition strategy. The simulation results show that the proposed algorithm achieves better results than the classical ACO algorithm for the design of the fuzzy controller.

Social navigation support in a course recommendation system The volume of course-related information available to students is rapidly increasing. This abundance of information has created the need to help students find, organize, and use resources that match their individual goals, interests, and current knowledge. Our system, CourseAgent, presented in this paper, is an adaptive community-based hypermedia system, which provides social navigation course recommendations based on students’ assessment of course relevance to their career goals. CourseAgent obtains students’ explicit feedback as part of their natural interactivity with the system. This work presents our approach to eliciting explicit student feedback and then evaluates this approach.

A Certificateless Authenticated Key Agreement Protocol for Digital Rights Management System.

Device self-calibration in location systems using signal strength histograms Received signal strength RSS fingerprinting is an attractive solution for indoor positioning using Wireless Local Area Network WLAN due to the wide availability of WLAN access points and the ease of monitoring RSS measurements on WLAN-enabled mobile devices. Fingerprinting systems rely on a radiomap collected using a reference device inside the localisation area; however, a major limitation is that the quality of the location information can be degraded if the user carries a different device. This is because diverse devices tend to report the RSS values very differently for a variety of reasons. To ensure compatibility with the existing radiomap, we propose a self-calibration method that attains a good mapping between the reference and user devices using RSS histograms. We do so by relating the RSS histogram of the reference device, which is deduced from the radiomap, and the RSS histogram of the user device, which is updated concurrently with positioning. Unlike other approaches, our calibration method does not require any user intervention, e.g. collecting calibration data using the new device prior to positioning. Experimental results with five smartphones in a real indoor environment demonstrate the effectiveness of the proposed method and indicate that it is more robust to device diversity compared with other calibration methods in the literature.

Substituting Motion Effects with Vibrotactile Effects for 4D Experiences. In this paper, we present two methods to substitute motion effects using vibrotactile effects in order to improve the 4D experiences of viewers. This work was motivated by the needs of more affordable 4D systems for individual users. Our sensory substitution algorithms convert motion commands to vibrotactile commands to a grid display that uses multiple actuators. While one method is based on the fundamental principle of vestibular feedback, the other method makes use of intuitive visually-based mapping from motion to vibrotactile stimulation. We carried out a user study and could confirm the effectiveness of our substitution methods in improving 4D experiences. To our knowledge, this is the first study that investigated the feasibility of replacing motion effects using much simpler and less expensive vibrotactile effects.

Learning Feature Recovery Transformer for Occluded Person Re-Identification One major issue that challenges person re-identification (Re-ID) is the ubiquitous occlusion over the captured persons. There are two main challenges for the occluded person Re-ID problem, i.e., the interference of noise during feature matching and the loss of pedestrian information brought by the occlusions. In this paper, we propose a new approach called Feature Recovery Transformer (FRT) to address the two challenges simultaneously, which mainly consists of visibility graph matching and feature recovery transformer. To reduce the interference of the noise during feature matching, we mainly focus on visible regions that appear in both images and develop a visibility graph to calculate the similarity. In terms of the second challenge, based on the developed graph similarity, for each query image, we propose a recovery transformer that exploits the feature sets of its k-nearest neighbors in the gallery to recover the complete features. Extensive experiments across different person Re-ID datasets, including occluded, partial and holistic datasets, demonstrate the effectiveness of FRT. Specifically, FRT significantly outperforms state-of-the-art results by at least 6.2% Rank- 1 accuracy and 7.2% mAP scores on the challenging Occluded-Duke dataset.

Deep traffic congestion prediction model based on road segment grouping Intelligent Transportation System (ITS) is now being widely built all over the world. Traffic congestion prediction, as a major part of ITS, not only provides reliable traffic information for travelers to save their time, but also assists traffic management agencies to manage the traffic system. We find that the existing papers, including neural networks, do not perform well due to the complex association features between the road sections. In addition, the lack of a better evaluation standard for traffic congestion also makes the effect of traffic congestion prediction worse. In this paper, we propose a method to generate traffic congestion index by mining free-stream speed and free-stream flow. Considering the association features of road segments in the road network, we propose a road segment grouping method based on association subgraph to pre-train deep learning model and realize information sharing between road segments. Combining the features of traffic data and CNN model, we propose a traffic congestion prediction model named SG-CNN which training process is optimized by road segment grouping algorithm. The experiments demonstrate that our proposed model has higher accuracy rate than other models.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

A Secure Federated Learning Framework for 5G Networks Federated learning (FL) has recently been proposed as an emerging paradigm to build machine learning models using distributed training datasets that are locally stored and maintained on different devices in 5G networks while providing privacy preservation for participants. In FL, the central aggregator accumulates local updates uploaded by participants to update a global model. However, there are two critical security threats: poisoning and membership inference attacks. These attacks may be carried out by malicious or unreliable participants, resulting in the construction failure of global models or privacy leakage of FL models. Therefore, it is crucial for FL to develop security means of defense. In this article, we propose a blockchain-based secure FL framework to create smart contracts and prevent malicious or unreliable participants from being involved in FL. In doing so, the central aggregator recognizes malicious and unreliable participants by automatically executing smart contracts to defend against poisoning attacks. Further, we use local differential privacy techniques to prevent membership inference attacks. Numerical results suggest that the proposed framework can effectively deter poisoning and membership inference attacks, thereby improving the security of FL in 5G networks.

Joint Optimization of Cooperative Beamforming and Relay Assignment in Multi-User Wireless Relay Networks This paper considers joint optimization of cooperative beamforming and relay assignment for multi-user multi-relay wireless networks to maximize the minimum of the received signal-to-interference-plus-noise ratios (SINR). Separated continuous optimization of beamforming and binary optimization of relay assignment already pose very challenging programs. Certainly, their joint optimization, which involves nonconvex objectives and coupled constraints in continuous and binary variables, is among the most challenging optimization problems. Even the conventional relaxation of binary constraints by continuous box constraints is still computationally intractable because the relaxed program is still highly nonconvex. However, it is shown in this paper that the joint programs fit well in the d.c. (difference of two convex functions/sets) optimization framework. Efficient optimization algorithms are then developed for both cases of orthogonal and nonorthogonal transmission by multiple users. Simulation results show that the jointly optimized beamforming and relay assignment not only save transmission bandwidth but can also maintain well the network SINRs.

Joint Optimization of Source Precoding and Relay Beamforming in Wireless MIMO Relay Networks. This paper considers joint linear processing at multi-antenna sources and one multiple-input multiple-output (MIMO) relay station for both one-way and two-way relay-assisted wireless communications. The one-way relaying is applicable in the scenario of downlink transmission by a multi-antenna base station to multiple single-antenna users with the help of one MIMO relay. In such a scenario, the objective of join linear processing is to maximize the information throughput to users. The design problem is equivalently formulated as the maximization of the worst signal-to-interference-plus-noise ratio (SINR) among all users subject to various transmission power constraints. Such a program of nonconvex objective minimization under nonconvex constraints is transformed to a canonical d.c. (difference of convex functions/sets) program of d.c. function optimization under convex constraints through nonconvex duality with zero duality gap. An efficient iterative algorithm is then applied to solve this canonical d.c program. For the scenario of using one MIMO relay to assist two sources exchanging their information in two-way relying manner, the joint linear processing aims at either minimizing the maximum mean square error (MSE) or maximizing the total information throughput of the two sources. By applying tractable optimization for the linear minimum MSE estimator and d.c. programming, an iterative algorithm is developed to solve these two optimization problems. Extensive simulation results demonstrate that the proposed methods substantially outperform previously-known joint optimization methods.

Spectral and Energy Efficiencies in Full-Duplex Wireless Information and Power Transfer. A communication system is considered consisting of a full-duplex multiple-antenna base station (BS) and multiple single-antenna downlink users (DLUs) and single-antenna uplink users (ULUs), where the latter need to harvest energy for transmitting information to the BS. The communication is thus divided into two phases. In the first phase, the BS uses all available antennas for conveying informatio...

Energy Efficiency Maximization for Downlink Cloud Radio Access Networks With Data Sharing and Data Compression. This paper aims to maximize the energy efficiency of a downlink cloud radio access network (C-RAN). Here, data is transferred from a baseband unit in the core network to several remote radio heads via a set of edge routers over capacity-limited fronthaul links. The remote radio heads then send the received signals to their users via radio access links. Both data sharing and compression-based strat...

Federated Learning Over Noisy Channels: Convergence Analysis and Design Examples Does Federated Learning (FL) work when <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">both</i> uplink and downlink communications have errors? How much communication noise can FL handle and what is its impact on the learning performance? This work is devoted to answering these practically important questions by explicitly incorporating both uplink and downlink noisy channels in the FL pipeline. We present several novel convergence analyses of FL over simultaneous uplink and downlink noisy communication channels, which encompass full and partial clients participation, direct model and model differential transmissions, and non-independent and identically distributed (IID) local datasets. These analyses characterize the sufficient conditions for FL over noisy channels to have the same convergence behavior as the ideal case of no communication error. More specifically, in order to maintain the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal {O}({1}/{T})$ </tex-math></inline-formula> convergence rate of FED AVG with perfect communications, the uplink and downlink signal-to-noise ratio (SNR) for direct model transmissions should be controlled such that they scale as <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal {O}(t^{2})$ </tex-math></inline-formula> where <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${t}$ </tex-math></inline-formula> is the index of communication rounds, but can stay <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal {O}(1)$ </tex-math></inline-formula> (i.e., constant) for model differential transmissions. The key insight of these theoretical results is a “flying under the radar” principle – stochastic gradient descent (SGD) is an inherent noisy process and uplink/downlink communication noises can be tolerated as long as they do not dominate the time-varying SGD noise. We exemplify these theoretical findings with two widely adopted communication techniques – transmit power control and receive diversity combining – and further validate their performance advantages over the standard methods via numerical experiments using several real-world FL tasks.

Energy-Efficient Resource Management for Federated Edge Learning With CPU-GPU Heterogeneous Computing Edge machine learning involves the deployment of learning algorithms at the network edge to leverage massive distributed data and computation resources to train artificial intelligence (AI) models. Among others, the framework of federated edge learning (FEEL) is popular for its data-privacy preservation. FEEL coordinates global model training at an edge server and...

Gradient-Based Learning Applied to Document Recognition Multilayer neural networks trained with the back-propagation algorithm constitute the best example of a successful gradient based learning technique. Given an appropriate network architecture, gradient-based learning algorithms can be used to synthesize a complex decision surface that can classify high-dimensional patterns, such as handwritten characters, with minimal preprocessing. This paper rev...

No free lunch theorems for optimization A framework is developed to explore the connection between effective optimization algorithms and the problems they are solving. A number of “no free lunch” (NFL) theorems are presented which establish that for any algorithm, any elevated performance over one class of problems is offset by performance over another class. These theorems result in a geometric interpretation of what it means for an algorithm to be well suited to an optimization problem. Applications of the NFL theorems to information-theoretic aspects of optimization and benchmark measures of performance are also presented. Other issues addressed include time-varying optimization problems and a priori “head-to-head” minimax distinctions between optimization algorithms, distinctions that result despite the NFL theorems' enforcing of a type of uniformity over all algorithms

Simultaneous localization and mapping: part I he simultaneous localization and mapping (SLAM) problem asks if it is possible for a mobile robot to be placed at an unknown location in an unknown envi- ronment and for the robot to incrementally build a consistent map of this environment while simultaneously determining its location within this map. A solution to the SLAM problem has been seen as a "holy grail" for the mobile robotics com- munity as it would provide the means to make a robot truly autonomous. The "solution" of the SLAM problem has been one of the notable successes of the robotics community over the past decade. SLAM has been formulated and solved as a theoretical problem in a number of different forms. SLAM has also been implemented in a number of different domains from indoor robots to outdoor, underwater, and airborne systems. At a theoretical and conceptual level, SLAM can now be consid- ered a solved problem. However, substantial issues remain in practically realizing more general SLAM solutions and notably in building and using perceptually rich maps as part of a SLAM algorithm. This two-part tutorial and survey of SLAM aims to provide a broad introduction to this rapidly growing field. Part I (this article) begins by providing a brief history of early develop- ments in SLAM. The formulation section introduces the struc- ture the SLAM problem in now standard Bayesian form, and explains the evolution of the SLAM process. The solution sec- tion describes the two key computational solutions to the SLAM problem through the use of the extended Kalman filter (EKF-SLAM) and through the use of Rao-Blackwellized par- ticle filters (FastSLAM). Other recent solutions to the SLAM problem are discussed in Part II of this tutorial. The application section describes a number of important real-world implemen- tations of SLAM and also highlights implementations where the sensor data and software are freely down-loadable for other researchers to study. Part II of this tutorial describes major issues in computation, convergence, and data association in SLAM. These are subjects that have been the main focus of the SLAM research community over the past five years.

Piecewise linear mapping functions for image registration A new approach to determination of mapping functions for registration of digital images is presented. Given the coordinates of corresponding control points in two images of the same scene, first the images are divided into triangular regions by triangulating the control points. Then a linear mapping function is obtained by registering each pair of corresponding triangular regions in the images. The overall mapping function is then obtained by piecing together the linear mapping functions.

Enhancing Stance Phase Propulsion During Level Walking By Combining Fes With A Powered Exoskeleton For Persons With Paraplegia This paper describes the design and implementation of a cooperative controller that combines functional electrical stimulation (FES) with a powered lower limb exoskeleton to provide enhanced hip extension during the stance phase of walking in persons with paraplegia. The controller utilizes two sources of actuation: the electric motors of the powered exoskeleton and the user's hamstrings activated by FES. It consists of a finite-state machine (FSM), a set of proportional-derivative (PD) controllers for the exoskeleton and a cycle-to-cycle adaptive controller for muscle stimulation. Level ground walking is conducted on a single subject with complete T10 paraplegia. Results show a 34% reduction in electrical power requirements at the hip joints during the stance phase of the gait cycle with the cooperative controller compared to using electric motors alone.

Potential of Exoskeleton Technology to Assist Older Adults with Daily Living. Mobility impairments can prevent older adults from performing their daily activities which highly impacts a person's quality of life. Exoskeleton technology can assist older adults by providing additional support to compensate for age-related decline in muscle strength. To date little is known about the opinions and needs of older adults regarding exoskeletons as current research primarily focuses on the technical development of exoskeleton devices. Therefore, the aim of this paper is to inform the design of exoskeletons from a human-centered perspective. Interviews were conducted with seven older adults and six healthcare professionals. Results indicated that exoskeletons can be a valuable addition to existing mobility devices. Accepting the need for mobility aids was found to be challenging due to associated stigmas. Therefore, an exoskeleton with a discreet appearance was preferred. Ultimately, the willingness to use exoskeleton technology will depend on personal needs and preferences.

Hardware Circuits Design and Performance Evaluation of a Soft Lower Limb Exoskeleton Soft lower limb exoskeletons (LLEs) are wearable devices that have good potential in walking rehabilitation and augmentation. While a few studies focused on the structure design and assistance force optimization of the soft LLEs, rarely work has been conducted on the hardware circuits design. The main purpose of this work is to present a new soft LLE for walking efficiency improvement and introduce its hardware circuits design. A soft LLE for hip flexion assistance and a hardware circuits system with scalability were proposed. To assess the efficacy of the soft LLE, the experimental tests that evaluate the sensor data acquisition, force tracking performance, lower limb muscle activity and metabolic cost were conducted. The time error in the peak assistance force was just 1%. The reduction in the normalized root-mean-square EMG of the rectus femoris was 7.1%. The net metabolic cost in exoskeleton on condition was reduced by 7.8% relative to walking with no exoskeleton. The results show that the designed hardware circuits can be applied to the soft LLE and the soft LLE is able to improve walking efficiency of wearers.

Optimizing supply chain network for perishable products using improved bacteria foraging algorithm In a supply chain environment, time delay has a significant impact on the success of perishable products. A major concern is therefore aimed at development of a holistic optimized approach in a supply chain environment for perishable products. Thus, integration of production, inventory and, distribution of perishable products in a supply chain environment are the challenging tasks for practitioners and researchers. In general, the standard optimal supply chain model cannot work for perishable products. There is therefore, a need for a holistic model that focuses on the consolidation of the processes. Shorter product shelf-life, temperature control, requirement of strict tractability, large number of product variants, and a large volume of goods handled are the major challenges in a supply chain environment for perishable products. The present work focuses on the development of a holistic model which uses improved bacteria forging algorithm (IBFA) for solving the formulated model. We have proposed and analyzed some general properties of the model and, finally applied it to a three-stage supply chain problem using an IBFA. Two case studies have been considered for support and demonstration of the integrated perishable supply chain network problem. Results obtained from IBFA reveal that the proposed model is more useful for decision makers while considering optimal supply chain network for perishable products. Finally, validation of results has been carried out using bacteria forging algorithm (BFA). The computational performance of the proposed algorithm proves that IBFA is instrumental in effectively handling the proposed approach.

Multi-stage genetic programming: A new strategy to nonlinear system modeling This paper presents a new multi-stage genetic programming (MSGP) strategy for modeling nonlinear systems. The proposed strategy is based on incorporating the individual effect of predictor variables and the interactions among them to provide more accurate simulations. According to the MSGP strategy, an efficient formulation for a problem comprises different terms. In the first stage of the MSGP-based analysis, the output variable is formulated in terms of an influencing variable. Thereafter, the error between the actual and the predicted value is formulated in terms of a new variable. Finally, the interaction term is derived by formulating the difference between the actual values and the values predicted by the individually developed terms. The capabilities of MSGP are illustrated by applying it to the formulation of different complex engineering problems. The problems analyzed herein include the following: (i) simulation of pH neutralization process, (ii) prediction of surface roughness in end milling, and (iii) classification of soil liquefaction conditions. The validity of the proposed strategy is confirmed by applying the derived models to the parts of the experimental results that were not included in the analyses. Further, the external validation of the models is verified using several statistical criteria recommended by other researchers. The MSGP-based solutions are capable of effectively simulating the nonlinear behavior of the investigated systems. The results of MSGP are found to be more accurate than those of standard GP and artificial neural network-based models.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Hybrid Whale Optimization Algorithm with simulated annealing for feature selection. •Four hybrid feature selection methods for classification task are proposed.•Our hybrid method combines Whale Optimization Algorithm with simulated annealing.•Eighteen UCI datasets were used in the experiments.•Our approaches result a higher accuracy by using less number of features.

Solving the dynamic weapon target assignment problem by an improved artificial bee colony algorithm with heuristic factor initialization. •Put forward an improved artificial bee colony algorithm based on ranking selection and elite guidance.•Put forward 4 rule-based heuristic factors: Wc, Rc, TRc and TRcL.•The heuristic factors are used in population initialization to improve the quality of the initial solutions in DWTA solving.•The heuristic factor initialization method is combined with the improved ABC algorithm to solve the DWTA problem.

A monarch butterfly optimization-based neural network simulator for prediction of siro-spun yarn tenacity Yarn tenacity directly affects the winding and knitting efficiency as well as warp and weft breakages during weaving process and therefore, is considered as the most important parameter to be controlled during yarn spinning process. Yarn tenacity is dependent on fiber properties and process parameters. Exploring the relationship between fiber properties, process parameters and yarn tenacity is very important to optimize the selection of raw materials and improve yarn quality. In this study, an efficient monarch butterfly optimization-based neural network simulator called MBONN was developed to predict the tenacity of siro-spun yarns from some process parameters and fiber properties. To this end, an experimental dataset was obtained with fiber fineness, yarn twist factor, yarn linear density and strand spacing as the input variables and yarn tenacity as the output parameter. In the proposed MBONN, a monarch butterfly optimization algorithm is applied as a global search method to evolve weights of a multilayer perception (MLP) neural network. The prediction accuracy of the MBONN was compared with that of a MLP neural network trained with back propagation algorithm, MLP neural network trained with genetic algorithms and linear regression model. The results indicated that the prediction accuracy of the proposed MBONN is statistically superior to that of other models. The effect of fiber fineness, yarn linear density, twist factor and strand spacing on yarn tenacity was investigated using the proposed MBONN. Additionally, the observed trends in variation of yarn tenacity with fiber and process parameters were discussed with reference to the yarn internal structure. It was established that higher migration parameters result in increasing the siro-spun yarn tenacity. It was found that the yarns with higher migration parameters benefit from a more coherent self-locking structure which severely restricts fiber slippage, thereby increasing the yarn tenacity.

An improved artificial bee colony algorithm for balancing local and global search behaviors in continuous optimization The artificial bee colony, ABC for short, algorithm is population-based iterative optimization algorithm proposed for solving the optimization problems with continuously-structured solution space. Although ABC has been equipped with powerful global search capability, this capability can cause poor intensification on found solutions and slow convergence problem. The occurrence of these issues is originated from the search equations proposed for employed and onlooker bees, which only updates one decision variable at each trial. In order to address these drawbacks of the basic ABC algorithm, we introduce six search equations for the algorithm and three of them are used by employed bees and the rest of equations are used by onlooker bees. Moreover, each onlooker agent can modify three dimensions or decision variables of a food source at each attempt, which represents a possible solution for the optimization problems. The proposed variant of ABC algorithm is applied to solve basic, CEC2005, CEC2014 and CEC2015 benchmark functions. The obtained results are compared with results of the state-of-art variants of the basic ABC algorithm, artificial algae algorithm, particle swarm optimization algorithm and its variants, gravitation search algorithm and its variants and etc. Comparisons are conducted for measurement of the solution quality, robustness and convergence characteristics of the algorithms. The obtained results and comparisons show the experimentally validation of the proposed ABC variant and success in solving the continuous optimization problems dealt with the study.

On the security of public key protocols Recently the use of public key encryption to provide secure network communication has received considerable attention. Such public key systems are usually effective against passive eavesdroppers, who merely tap the lines and try to decipher the message. It has been pointed out, however, that an improperly designed protocol could be vulnerable to an active saboteur, one who may impersonate another user or alter the message being transmitted. Several models are formulated in which the security of protocols can be discussed precisely. Algorithms and characterizations that can be used to determine protocol security in these models are given.

QoE-Driven Edge Caching in Vehicle Networks Based on Deep Reinforcement Learning The Internet of vehicles (IoV) is a large information interaction network that collects information on vehicles, roads and pedestrians. One of the important uses of vehicle networks is to meet the entertainment needs of driving users through communication between vehicles and roadside units (RSUs). Due to the limited storage space of RSUs, determining the content cached in each RSU is a key challenge. With the development of 5G and video editing technology, short video systems have become increasingly popular. Current widely used cache update methods, such as partial file precaching and content popularity- and user interest-based determination, are inefficient for such systems. To solve this problem, this paper proposes a QoE-driven edge caching method for the IoV based on deep reinforcement learning. First, a class-based user interest model is established. Compared with the traditional file popularity- and user interest distribution-based cache update methods, the proposed method is more suitable for systems with a large number of small files. Second, a quality of experience (QoE)-driven RSU cache model is established based on the proposed class-based user interest model. Third, a deep reinforcement learning method is designed to address the QoE-driven RSU cache update issue effectively. The experimental results verify the effectiveness of the proposed algorithm.

Image information and visual quality Measurement of visual quality is of fundamental importance to numerous image and video processing applications. The goal of quality assessment (QA) research is to design algorithms that can automatically assess the quality of images or videos in a perceptually consistent manner. Image QA algorithms generally interpret image quality as fidelity or similarity with a "reference" or "perfect" image in some perceptual space. Such "full-reference" QA methods attempt to achieve consistency in quality prediction by modeling salient physiological and psychovisual features of the human visual system (HVS), or by signal fidelity measures. In this paper, we approach the image QA problem as an information fidelity problem. Specifically, we propose to quantify the loss of image information to the distortion process and explore the relationship between image information and visual quality. QA systems are invariably involved with judging the visual quality of "natural" images and videos that are meant for "human consumption." Researchers have developed sophisticated models to capture the statistics of such natural signals. Using these models, we previously presented an information fidelity criterion for image QA that related image quality with the amount of information shared between a reference and a distorted image. In this paper, we propose an image information measure that quantifies the information that is present in the reference image and how much of this reference information can be extracted from the distorted image. Combining these two quantities, we propose a visual information fidelity measure for image QA. We validate the performance of our algorithm with an extensive subjective study involving 779 images and show that our method outperforms recent state-of-the-art image QA algorithms by a sizeable margin in our simulations. The code and the data from the subjective study are available at the LIVE website.

Stabilization of switched continuous-time systems with all modes unstable via dwell time switching Stabilization of switched systems composed fully of unstable subsystems is one of the most challenging problems in the field of switched systems. In this brief paper, a sufficient condition ensuring the asymptotic stability of switched continuous-time systems with all modes unstable is proposed. The main idea is to exploit the stabilization property of switching behaviors to compensate the state divergence made by unstable modes. Then, by using a discretized Lyapunov function approach, a computable sufficient condition for switched linear systems is proposed in the framework of dwell time; it is shown that the time intervals between two successive switching instants are required to be confined by a pair of upper and lower bounds to guarantee the asymptotic stability. Based on derived results, an algorithm is proposed to compute the stability region of admissible dwell time. A numerical example is proposed to illustrate our approach.

Software-Defined Networking: A Comprehensive Survey The Internet has led to the creation of a digital society, where (almost) everything is connected and is accessible from anywhere. However, despite their widespread adoption, traditional IP networks are complex and very hard to manage. It is both difficult to configure the network according to predefined policies, and to reconfigure it to respond to faults, load, and changes. To make matters even more difficult, current networks are also vertically integrated: the control and data planes are bundled together. Software-defined networking (SDN) is an emerging paradigm that promises to change this state of affairs, by breaking vertical integration, separating the network's control logic from the underlying routers and switches, promoting (logical) centralization of network control, and introducing the ability to program the network. The separation of concerns, introduced between the definition of network policies, their implementation in switching hardware, and the forwarding of traffic, is key to the desired flexibility: by breaking the network control problem into tractable pieces, SDN makes it easier to create and introduce new abstractions in networking, simplifying network management and facilitating network evolution. In this paper, we present a comprehensive survey on SDN. We start by introducing the motivation for SDN, explain its main concepts and how it differs from traditional networking, its roots, and the standardization activities regarding this novel paradigm. Next, we present the key building blocks of an SDN infrastructure using a bottom-up, layered approach. We provide an in-depth analysis of the hardware infrastructure, southbound and northbound application programming interfaces (APIs), network virtualization layers, network operating systems (SDN controllers), network programming languages, and network applications. We also look at cross-layer problems such as debugging and troubleshooting. In an effort to anticipate the future evolution of this - ew paradigm, we discuss the main ongoing research efforts and challenges of SDN. In particular, we address the design of switches and control platforms - with a focus on aspects such as resiliency, scalability, performance, security, and dependability - as well as new opportunities for carrier transport networks and cloud providers. Last but not least, we analyze the position of SDN as a key enabler of a software-defined environment.

An ID-Based Linearly Homomorphic Signature Scheme and Its Application in Blockchain. Identity-based cryptosystems mean that public keys can be directly derived from user identifiers, such as telephone numbers, email addresses, and social insurance number, and so on. So they can simplify key management procedures of certificate-based public key infrastructures and can be used to realize authentication in blockchain. Linearly homomorphic signature schemes allow to perform linear computations on authenticated data. And the correctness of the computation can be publicly verified. Although a series of homomorphic signature schemes have been designed recently, there are few homomorphic signature schemes designed in identity-based cryptography. In this paper, we construct a new ID-based linear homomorphic signature scheme, which avoids the shortcomings of the use of public-key certificates. The scheme is proved secure against existential forgery on adaptively chosen message and ID attack under the random oracle model. The ID-based linearly homomorphic signature schemes can be applied in e-business and cloud computing. Finally, we show how to apply it to realize authentication in blockchain.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Generalized Superimposed Training Scheme in Cell-Free Massive MIMO Systems Regular pilots in a massive multi-input multi-output (MIMO) system with large number of users suffer from the pilot contamination effect due to limited training time. In this paper, for a cell-free massive MIMO system, we have proposed a generalized superimposed pilot (GSP) scheme, where the available number of pilots are equal to the coherence time slots, and the transmitting data symbols are spread over the coherence time with the help of simple precoding. Further, in order to keep the system scalable, a low complexity and distributed time processing approach is employed, and the corresponding rate components are analyzed. It is shown that with careful design of precoding matrix and number of data symbols, the GSP symbols can provide much better channel estimation and data detection performance, as compared to the regular pilot scheme and the conventional superimposed scheme. These results have been verified via simulations. It is also inferred that centralized processing in cell free system improves the data detection performance than localized processing. Iterative data detection at the central node also improves the MSE of data estimates. The pilot contamination effect, is significantly reduced due to availability of larger number of pilots, as compared to regular pilots transmission.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Ethical Considerations Of Applying Robots In Kindergarten Settings: Towards An Approach From A Macroperspective In child-robot interaction (cHRI) research, many studies pursue the goal to develop interactive systems that can be applied in everyday settings. For early education, increasingly, the setting of a kindergarten is targeted. However, when cHRI and research are brought into a kindergarten, a range of ethical and related procedural aspects have to be considered and dealt with. While ethical models elaborated within other human-robot interaction settings, e.g., assisted living contexts, can provide some important indicators for relevant issues, we argue that it is important to start developing a systematic approach to identify and tackle those ethical issues which rise with cHRI in kindergarten settings on a more global level and address the impact of the technology from a macroperspective beyond the effects on the individual. Based on our experience in conducting studies with children in general and pedagogical considerations on the role of the institution of kindergarten in specific, in this paper, we enfold some relevant aspects that have barely been addressed in an explicit way in current cHRI research. Four areas are analyzed and key ethical issues are identified in each area: (1) the institutional setting of a kindergarten, (2) children as a vulnerable group, (3) the caregivers' role, and (4) pedagogical concepts. With our considerations, we aim at (i) broadening the methodology of the current studies within the area of cHRI, (ii) revalidate it based on our comprehensive empirical experience with research in kindergarten settings, both laboratory and real-world contexts, and (iii) provide a framework for the development of a more systematic approach to address the ethical issues in cHRI research within kindergarten settings.

Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics Due to strongly coupled nonlinearities of the grasped dual-arm robot and the internal forces generated by grasped objects, the dual-arm robot control with uncertain kinematics and dynamics raises a challenging problem. In this paper, an adaptive fuzzy control scheme is developed for a dual-arm robot, where an approximate Jacobian matrix is applied to address the uncertain kinematic control, while a decentralized fuzzy logic controller is constructed to compensate for uncertain dynamics of the robotic arms and the manipulated object. Also, a novel finite-time convergence parameter adaptation technique is developed for the estimation of kinematic parameters and fuzzy logic weights, such that the estimation can be guaranteed to converge to small neighborhoods around their ideal values in a finite time. Moreover, a partial persistent excitation property of the Gaussian-membership-based fuzzy basis function was established to relax the conventional persistent excitation condition. This enables a designer to reuse these learned weight values in the future without relearning. Extensive simulation studies have been carried out using a dual-arm robot to illustrate the effectiveness of the proposed approach.

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators In this paper, a pseudoinverse-type bi-criteria minimization scheme is proposed and investigated for the redundancy resolution of robot manipulators at the joint-acceleration level. Such a bi-criteria minimization scheme combines the weighted minimum acceleration norm solution and the minimum velocity norm solution via a weighting factor. The resultant bi-criteria minimization scheme, formulated as the pseudoinverse-type solution, not only avoids the high joint-velocity and joint-acceleration phenomena but also causes the joint velocity to be near zero at the end of motion. Computer simulation results based on a 4-Degree-of-Freedom planar robot manipulator comprising revolute joints further verify the efficacy and flexibility of the proposed bi-criteria minimization scheme on robotic redundancy resolution.

Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach. Continuum manipulators are a rapidly emerging class of robots. However, due to the complexity of their mathematical models and modeling inaccuracies, the development of effective control systems is a particularly challenging task. This paper presents the first attempt on kinematic control of continuum manipulators using a fuzzy-model-based approach. A fuzzy controller is proposed for autonomous ex...

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic. This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot on the slave side. A novel nonsingular fast terminal sliding-mode algorithm, together with varying dominance factors for cooperation, is proposed to offer this system&#39;s fast position and force tracking, as well as an integrated perc...

Design and Application of an Adaptive Fuzzy Control Strategy to Zeroing Neural Network for Solving Time-Variant QP Problem Zeroing neural network (ZNN), as an important class of recurrent neural network, has wide applications in various computation and optimization fields. In this article, based on the traditional-type zeroing neural network (TT-ZNN) model, an adaptive fuzzy-type zeroing neural network (AFT-ZNN) model is proposed to settle time-variant quadratic programming problem via integrating an adaptive fuzzy co...

Pose Characterization and Analysis of Soft Continuum Robots With Modeling Uncertainties Based on Interval Arithmetic This paper introduces a systematical interval-based framework of inherent uncertainties and pose evaluation for a class of soft continuum robots driven by flexible shafts. A more general model of continuum robots driven by shaft tendons is extended from prior kinematic models. On top of the proposed model, the interval-based analysis is presented to analyze and characterize the pose of continuum robots considering uncertainties in kinematic parameters and joint inputs. A 3-D printed bending actuator driven by a flexible shaft is evaluated for case study based on the proposed interval-valued framework. This paper investigates and compares a couple of refinement methods and proposes a new way of sensitivity analysis of model parameters based on interval arithmetic. The kinematic and mechanics parameters are measured and identified experimentally with a representation of intervals. The in-plane motion experiment validates that the computed bounds can enclose all the measured tip positions with consideration of the measurement uncertainty. The method is also validated when external loading is exerted. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</italic> —With the fast development of soft robotics, the increasing number of soft robotic manipulators show great potentials of application in industries such as agriculture, biomedicine, home automation, manufacturing, logistics, and domestic service. Thanks to the mechanical compliance, soft manipulators demonstrate environmental adaptability at the cost of very precise positioning. However, the guaranteed bounds of the reaching range are valuable in order to provide users a good knowledge of the product performance, which is the motivation of this paper. This paper provides not only a method and framework based on interval analysis to evaluate the pose of soft actuators, but also a case study of uncertainty interval characterization procedure which is domain-specific for soft actuators. The presented method framework can be implemented for continuum manipulators and soft actuators as well as any other robotic devices featured by such flexible components.

On the security of public key protocols Recently the use of public key encryption to provide secure network communication has received considerable attention. Such public key systems are usually effective against passive eavesdroppers, who merely tap the lines and try to decipher the message. It has been pointed out, however, that an improperly designed protocol could be vulnerable to an active saboteur, one who may impersonate another user or alter the message being transmitted. Several models are formulated in which the security of protocols can be discussed precisely. Algorithms and characterizations that can be used to determine protocol security in these models are given.

Theory and Applications of Robust Optimization In this paper we survey the primary research, both theoretical and applied, in the area of robust optimization (RO). Our focus is on the computational attractiveness of RO approaches, as well as the modeling power and broad applicability of the methodology. In addition to surveying prominent theoretical results of RO, we also present some recent results linking RO to adaptable models for multistage decision-making problems. Finally, we highlight applications of RO across a wide spectrum of domains, including finance, statistics, learning, and various areas of engineering.

Revenue-optimal task scheduling and resource management for IoT batch jobs in mobile edge computing With the growing prevalence of Internet of Things (IoT) devices and technology, a burgeoning computing paradigm namely mobile edge computing (MEC) is delicately proposed and designed to accommodate the application requirements of IoT scenario. In this paper, we focus on the problems of dynamic task scheduling and resource management in MEC environment, with the specific objective of achieving the optimal revenue earned by edge service providers. While the majority of task scheduling and resource management algorithms are formulated by an integer programming (IP) problem and solved in a dispreferred NP-hard manner, we innovatively investigate the problem structure and identify a favorable property namely totally unimodular constraints. The totally unimodular property further helps to design an equivalent linear programming (LP) problem which can be efficiently and elegantly solved at polynomial computational complexity. In order to evaluate our proposed approach, we conduct simulations based on real-life IoT dataset to verify the effectiveness and efficiency of our approach.

Efficient k-out-of-n oblivious transfer schemes with adaptive and non-adaptive queries In this paper we propose efficient two-round k-out-of-n oblivious transfer schemes, in which R sends O(k) messages to S, and S sends O(n) messages back to R. The computation cost of R and S is reasonable. The choices of R are unconditionally secure. For the basic scheme, the secrecy of unchosen messages is guaranteed if the Decisional Diffie-Hellman problem is hard. When k=1, our basic scheme is as efficient as the most efficient 1-out-of-n oblivious transfer scheme. Our schemes have the nice property of universal parameters, that is each pair of R and S need neither hold any secret key nor perform any prior setup (initialization). The system parameters can be used by all senders and receivers without any trapdoor specification. Our k-out-of-n oblivious transfer schemes are the most efficient ones in terms of the communication cost, in both rounds and the number of messages. Moreover, one of our schemes can be extended in a straightforward way to an adaptivek-out-of-n oblivious transfer scheme, which allows the receiver R to choose the messages one by one adaptively. In our adaptive-query scheme, S sends O(n) messages to R in one round in the commitment phase. For each query of R, only O(1) messages are exchanged and O(1) operations are performed. In fact, the number k of queries need not be pre-fixed or known beforehand. This makes our scheme highly flexible.

Minimum acceleration criterion with constraints implies bang-bang control as an underlying principle for optimal trajectories of arm reaching movements. Rapid arm-reaching movements serve as an excellent test bed for any theory about trajectory formation. How are these movements planned? A minimum acceleration criterion has been examined in the past, and the solution obtained, based on the Euler-Poisson equation, failed to predict that the hand would begin and end the movement at rest (i.e., with zero acceleration). Therefore, this criterion was rejected in favor of the minimum jerk, which was proved to be successful in describing many features of human movements. This letter follows an alternative approach and solves the minimum acceleration problem with constraints using Pontryagin's minimum principle. We use the minimum principle to obtain minimum acceleration trajectories and use the jerk as a control signal. In order to find a solution that does not include nonphysiological impulse functions, constraints on the maximum and minimum jerk values are assumed. The analytical solution provides a three-phase piecewise constant jerk signal (bang-bang control) where the magnitude of the jerk and the two switching times depend on the magnitude of the maximum and minimum available jerk values. This result fits the observed trajectories of reaching movements and takes into account both the extrinsic coordinates and the muscle limitations in a single framework. The minimum acceleration with constraints principle is discussed as a unifying approach for many observations about the neural control of movements.

An Automatic Screening Approach for Obstructive Sleep Apnea Diagnosis Based on Single-Lead Electrocardiogram Traditional approaches for obstructive sleep apnea (OSA) diagnosis are apt to using multiple channels of physiological signals to detect apnea events by dividing the signals into equal-length segments, which may lead to incorrect apnea event detection and weaken the performance of OSA diagnosis. This paper proposes an automatic-segmentation-based screening approach with the single channel of Electrocardiogram (ECG) signal for OSA subject diagnosis, and the main work of the proposed approach lies in three aspects: (i) an automatic signal segmentation algorithm is adopted for signal segmentation instead of the equal-length segmentation rule; (ii) a local median filter is improved for reduction of the unexpected RR intervals before signal segmentation; (iii) the designed OSA severity index and additional admission information of OSA suspects are plugged into support vector machine (SVM) for OSA subject diagnosis. A real clinical example from PhysioNet database is provided to validate the proposed approach and an average accuracy of 97.41% for subject diagnosis is obtained which demonstrates the effectiveness for OSA diagnosis.

Multiple switching-time-dependent discretized Lyapunov functions/functionals methods for stability analysis of switched time-delay stochastic systems. This paper presents novel approaches for stability analysis of switched linear time-delay stochastic systems under dwell time constraint. Instead of using comparison principle, piecewise switching-time-dependent discretized Lyapunov functions/functionals are introduced to analyze the stability of switched stochastic systems with constant or time-varying delays. These Lyapunov functions/functionals are decreasing during the dwell time and non-increasing at switching instants, which lead to two mode-dependent dwell-time-based delay-independent stability criteria for the switched systems without restricting the stability of the subsystems. Comparison and numerical examples are provided to show the efficiency of the proposed results.

Intention-detection strategies for upper limb exosuits: model-based myoelectric vs dynamic-based control The cognitive human-robot interaction between an exosuit and its wearer plays a key role in determining both the biomechanical effects of the device on movements and its perceived effectiveness. There is a lack of evidence, however, on the comparative performance of different control methods, implemented on the same device. Here, we compare two different control approaches on the same robotic suit: a model-based myoelectric control (myoprocessor), which estimates the joint torque from the activation of target muscles, and a dynamic-based control that provides support against gravity using an inverse dynamic model. Tested on a cohort of four healthy participants, assistance from the exosuit results in a marked reduction in the effort of muscles working against gravity with both control approaches (peak reduction of 68.6±18.8%, for the dynamic arm model and 62.4±25.1% for the myoprocessor), when compared to an unpowered condition. Neither of the two controllers had an affect on the performance of their users in a joint-angle tracking task (peak errors of 15.4° and 16.4° for the dynamic arm model and myoprocessor, respectively, compared to 13.1o in the unpowered condition). However, our results highlight the remarkable adaptability of the myoprocessor to seamlessly adapt to changing external dynamics.

Optimal Source Codes for Timely Updates A transmitter observing a sequence of independent and identically distributed random variables seeks to keep a receiver updated about its latest observations. The receiver need not be apprised about each symbol seen by the transmitter, but needs to output a symbol at each time instant $t$ . If at time $t$ the receiver outputs the symbol seen by the transmitter at time $U(t)\leq t$ , the age of...

Mobile Edge Computing Enabled 5G Health Monitoring for Internet of Medical Things: A Decentralized Game Theoretic Approach The prompt evolution of Internet of Medical Things (IoMT) promotes pervasive in-home health monitoring networks. However, excessive requirements of patients result in insufficient spectrum resources and communication overload. Mobile Edge Computing (MEC) enabled 5G health monitoring is conceived as a favorable paradigm to tackle such an obstacle. In this paper, we construct a cost-efficient in-home health monitoring system for IoMT by dividing it into two sub-networks, i.e., intra-Wireless Body Area Networks (WBANs) and beyond-WBANs. Highlighting the characteristics of IoMT, the cost of patients depends on medical criticality, Age of Information (AoI) and energy consumption. For intra-WBANs, a cooperative game is formulated to allocate the wireless channel resources. While for beyond-WBANs, considering the individual rationality and potential selfishness, a decentralized non-cooperative game is proposed to minimize the system-wide cost in IoMT. We prove that the proposed algorithm can reach a Nash equilibrium. In addition, the upper bound of the algorithm time complexity and the number of patients benefiting from MEC is theoretically derived. Performance evaluations demonstrate the effectiveness of our proposed algorithm with respect to the system-wide cost and the number of patients benefiting from MEC.

Fast, Fair, and Efficient Flows in Networks We study the problem of minimizing the maximum latency of flows in networks with congestion. We show that this problem is NP-hard, even when all arc latency functions are linear and there is a single source and sink. Still, an optimal flow and an equilibrium flow share a desirable property in this situation: All flow-carrying paths have the same length, i.e., these solutions are “fair,” which is in general not true for optimal flows in networks with nonlinear latency functions. In addition, the maximum latency of the Nash equilibrium, which can be computed efficiently, is within a constant factor of that of an optimal solution. That is, the so-called price of anarchy is bounded. In contrast, we present a family of instances with multiple sources and a single sink for which the price of anarchy is unbounded, even in networks with linear latencies. Furthermore, we show that an s-t-flow that is optimal with respect to the average latency objective is near-optimal for the maximum latency objective, and it is close to being fair. Conversely, the average latency of a flow minimizing the maximum latency is also within a constant factor of that of a flow minimizing the average latency.

Cancel-and-tighten algorithm for quickest flow problems. Given a directed graph with a capacity and a transit time for each arc and with single source and single sink nodes, the quickest flow problem is to find the minimum time horizon to send a given amount of flow from the source to the sink. This is one of the fundamental dynamic flow problems. Parametric search is one of the basic approaches to solving the problem. Recently, Lin and Jaillet (SODA, 2015) proposed an algorithm whose time complexity is the same as that of the minimum cost flow algorithm. Their algorithm employs a cost scaling technique, and its time complexity is weakly polynomial time. In this article, we modify their algorithm by adopting a technique to construct a strongly polynomial time algorithm for solving the minimum cost flow problem. The proposed algorithm runs in O(nm(2)(log n)(2)) time, where n and m are the numbers of nodes and arcs, respectively. (C) 2016 Wiley Periodicals, Inc.

On the Age of Information in a CSMA Environment In this paper, we investigate a network where <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$N$ </tex-math></inline-formula> links contend for the channel using the well-known carrier sense multiple access scheme. By leveraging the notion of stochastic hybrid systems, we find: 1) a closed-form expression of the average age when links generate packets at will 2) an upperbound of the average age when packets arrive stochastically to each link. This upperbound is shown to be generally tight, and to be equal to the average age in certain scenarios. Armed with these expressions, we formulate the problem of minimizing the average age by calibrating the back-off time of each link. Interestingly, we show that the minimum average age is achieved for the same back-off time in both the sampling and stochastic arrivals scenarios. Then, by analyzing its structure, we convert the formulated optimization problem to an equivalent convex problem that we find its optimal solution. Insights on the interaction between links and numerical implementations of the optimized Carrier Sense Multiple Access (CSMA) scheme in an IEEE 802.11 environment are presented. Next, to further improve the performance of the optimized CSMA scheme, we propose a modification to it by giving each link the freedom to transition to SLEEP mode. The proposed approach provides a way to reduce the burden on the channel when possible. This leads, as will be shown in the paper, to an improvement in the performance of the network. Simulations results are then laid out to highlight the performance gain offered by our approach in comparison to the optimized standard CSMA scheme.

Age-Minimal Transmission for Energy Harvesting Sensors With Finite Batteries: Online Policies An energy-harvesting sensor node that is sending status updates to a destination is considered. The sensor is equipped with a battery of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">finite</italic> size to save its incoming energy, and consumes one unit of energy per status update transmission, which is delivered to the destination instantly over an error-free channel. The setting is <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">online</italic> in which the harvested energy is revealed to the sensor causally over time after it arrives, and the goal is to design status update transmission times (policy) such that the long term average <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">age of information</italic> (AoI) is minimized. The AoI is defined as the time elapsed since the latest update has reached at the destination. Two energy arrival models are considered: a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">random battery recharge</italic> (RBR) model, and an <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">incremental battery recharge</italic> (IBR) model. In both models, energy arrives according to a Poisson process with unit rate, with values that completely fill up the battery in the RBR model, and with values that fill up the battery incrementally in a unit-by-unit fashion in the IBR model. The key approach to characterizing the optimal status update policy for both models is showing the optimality of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">renewal policies</italic> , in which the inter-update times follow a renewal process in a certain manner that depends on the energy arrival model and the battery size. It is then shown that the optimal renewal policy has an energy-dependent <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">threshold</italic> structure, in which the sensor sends a status update only if the AoI grows above a certain threshold that depends on the energy available in its battery. For both the random and the incremental battery recharge models, the optimal energy-dependent thresholds are characterized <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">explicitly</italic> , i.e., in closed-form, in terms of the optimal long term average AoI. It is also shown that the optimal thresholds are monotonically decreasing in the energy available in the battery, and that the smallest threshold, which comes in effect when the battery is full, is equal to the optimal long term average AoI.

Distinctive Image Features from Scale-Invariant Keypoints This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene. The features are invariant to image scale and rotation, and are shown to provide robust matching across a substantial range of affine distortion, change in 3D viewpoint, addition of noise, and change in illumination. The features are highly distinctive, in the sense that a single feature can be correctly matched with high probability against a large database of features from many images. This paper also describes an approach to using these features for object recognition. The recognition proceeds by matching individual features to a database of features from known objects using a fast nearest-neighbor algorithm, followed by a Hough transform to identify clusters belonging to a single object, and finally performing verification through least-squares solution for consistent pose parameters. This approach to recognition can robustly identify objects among clutter and occlusion while achieving near real-time performance.

ImageNet Large Scale Visual Recognition Challenge. The ImageNet Large Scale Visual Recognition Challenge is a benchmark in object category classification and detection on hundreds of object categories and millions of images. The challenge has been run annually from 2010 to present, attracting participation from more than fifty institutions. This paper describes the creation of this benchmark dataset and the advances in object recognition that have been possible as a result. We discuss the challenges of collecting large-scale ground truth annotation, highlight key breakthroughs in categorical object recognition, provide a detailed analysis of the current state of the field of large-scale image classification and object detection, and compare the state-of-the-art computer vision accuracy with human accuracy. We conclude with lessons learned in the 5 years of the challenge, and propose future directions and improvements.

A Comprehensive Survey on Internet of Things (IoT) Toward 5G Wireless Systems Recently, wireless technologies have been growing actively all around the world. In the context of wireless technology, fifth-generation (5G) technology has become a most challenging and interesting topic in wireless research. This article provides an overview of the Internet of Things (IoT) in 5G wireless systems. IoT in the 5G system will be a game changer in the future generation. It will open a door for new wireless architecture and smart services. Recent cellular network LTE (4G) will not be sufficient and efficient to meet the demands of multiple device connectivity and high data rate, more bandwidth, low-latency quality of service (QoS), and low interference. To address these challenges, we consider 5G as the most promising technology. We provide a detailed overview of challenges and vision of various communication industries in 5G IoT systems. The different layers in 5G IoT systems are discussed in detail. This article provides a comprehensive review on emerging and enabling technologies related to the 5G system that enables IoT. We consider the technology drivers for 5G wireless technology, such as 5G new radio (NR), multiple-input–multiple-output antenna with the beamformation technology, mm-wave commutation technology, heterogeneous networks (HetNets), the role of augmented reality (AR) in IoT, which are discussed in detail. We also provide a review on low-power wide-area networks (LPWANs), security challenges, and its control measure in the 5G IoT scenario. This article introduces the role of AR in the 5G IoT scenario. This article also discusses the research gaps and future directions. The focus is also on application areas of IoT in 5G systems. We, therefore, outline some of the important research directions in 5G IoT.

A communication robot in a shopping mall This paper reports our development of a communication robot for use in a shopping mall to provide shopping information, offer route guidance, and build rapport. In the development, the major difficulties included sensing human behaviors, conversation in a noisy daily environment, and the needs of unexpected miscellaneous knowledge in the conversation. We chose a networkrobot system approach, where a single robot's poor sensing capability and knowledge are supplemented by ubiquitous sensors and a human operator. The developed robot system detects a person with floor sensors to initiate interaction, identifies individuals with radio-frequency identification (RFID) tags, gives shopping information while chatting, and provides route guidance with deictic gestures. The robotwas partially teleoperated to avoid the difficulty of speech recognition as well as to furnish a new kind of knowledge that only humans can flexibly provide. The information supplied by a human operator was later used to increase the robot's autonomy. For 25 days in a shopping mall, we conducted a field trial and gathered 2642 interactions. A total of 235 participants signed up to use RFID tags and, later, provided questionnaire responses. The questionnaire results are promising in terms of the visitors' perceived acceptability as well as the encouragement of their shopping activities. The results of the teleoperation analysis revealed that the amount of teleoperation gradually decreased, which is also promising.

Minimum acceleration criterion with constraints implies bang-bang control as an underlying principle for optimal trajectories of arm reaching movements. Rapid arm-reaching movements serve as an excellent test bed for any theory about trajectory formation. How are these movements planned? A minimum acceleration criterion has been examined in the past, and the solution obtained, based on the Euler-Poisson equation, failed to predict that the hand would begin and end the movement at rest (i.e., with zero acceleration). Therefore, this criterion was rejected in favor of the minimum jerk, which was proved to be successful in describing many features of human movements. This letter follows an alternative approach and solves the minimum acceleration problem with constraints using Pontryagin's minimum principle. We use the minimum principle to obtain minimum acceleration trajectories and use the jerk as a control signal. In order to find a solution that does not include nonphysiological impulse functions, constraints on the maximum and minimum jerk values are assumed. The analytical solution provides a three-phase piecewise constant jerk signal (bang-bang control) where the magnitude of the jerk and the two switching times depend on the magnitude of the maximum and minimum available jerk values. This result fits the observed trajectories of reaching movements and takes into account both the extrinsic coordinates and the muscle limitations in a single framework. The minimum acceleration with constraints principle is discussed as a unifying approach for many observations about the neural control of movements.

Completely Pinpointing the Missing RFID Tags in a Time-Efficient Way Radio Frequency Identification (RFID) technology has been widely used in inventory management in many scenarios, e.g., warehouses, retail stores, hospitals, etc. This paper investigates a challenging problem of complete identification of missing tags in large-scale RFID systems. Although this problem has attracted extensive attention from academy and industry, the existing work can hardly satisfy the stringent real-time requirements. In this paper, a Slot Filter-based Missing Tag Identification (SFMTI) protocol is proposed to reconcile some expected collision slots into singleton slots and filter out the expected empty slots as well as the unreconcilable collision slots, thereby achieving the improved time-efficiency. The theoretical analysis is conducted to minimize the execution time of the proposed SFMTI. We then propose a cost-effective method to extend SFMTI to the multi-reader scenarios. The extensive simulation experiments and performance results demonstrate that the proposed SFMTI protocol outperforms the most promising Iterative ID-free Protocol (IIP) by reducing nearly 45% of the required execution time, and is just within a factor of 1.18 from the lower bound of the minimum execution time.

A blind medical image watermarking: DWT-SVD based robust and secure approach for telemedicine applications. In this paper, a blind image watermarking scheme based on discrete wavelet transform (DWT) and singular value decomposition (SVD) is proposed. In this scheme, DWT is applied on ROI (region of interest) of the medical image to get different frequency subbands of its wavelet decomposition. On the low frequency subband LL of the ROI, block-SVD is applied to get different singular matrices. A pair of elements with similar values is identified from the left singular value matrix of these selected blocks. The values of these pairs are modified using certain threshold to embed a bit of watermark content. Appropriate threshold is chosen to achieve the imperceptibility and robustness of medical image and watermark contents respectively. For authentication and identification of original medical image, one watermark image (logo) and other text watermark have been used. The watermark image provides authentication whereas the text data represents electronic patient record (EPR) for identification. At receiving end, blind recovery of both watermark contents is performed by a similar comparison scheme used during the embedding process. The proposed algorithm is applied on various groups of medical images like X-ray, CT scan and mammography. This scheme offers better visibility of watermarked image and recovery of watermark content due to DWT-SVD combination. Moreover, use of Hamming error correcting code (ECC) on EPR text bits reduces the BER and thus provides better recovery of EPR. The performance of proposed algorithm with EPR data coding by Hamming code is compared with the BCH error correcting code and it is found that later one perform better. A result analysis shows that imperceptibility of watermarked image is better as PSNR is above 43 dB and WPSNR is above 52 dB for all set of images. In addition, robustness of the scheme is better than existing scheme for similar set of medical images in terms of normalized correlation coefficient (NCC) and bit-error-rate (BER). An analysis is also carried out to verify the performance of the proposed scheme for different size of watermark contents (image and EPR data). It is observed from analysis that the proposed scheme is also appropriate for watermarking of color image. Using proposed scheme, watermark contents are extracted successfully under various noise attacks like JPEG compression, filtering, Gaussian noise, Salt and pepper noise, cropping, filtering and rotation. Performance comparison of proposed scheme with existing schemes shows proposed scheme has better robustness against different types of attacks. Moreover, the proposed scheme is also robust under set of benchmark attacks known as checkmark attacks.

Hardware Circuits Design and Performance Evaluation of a Soft Lower Limb Exoskeleton Soft lower limb exoskeletons (LLEs) are wearable devices that have good potential in walking rehabilitation and augmentation. While a few studies focused on the structure design and assistance force optimization of the soft LLEs, rarely work has been conducted on the hardware circuits design. The main purpose of this work is to present a new soft LLE for walking efficiency improvement and introduce its hardware circuits design. A soft LLE for hip flexion assistance and a hardware circuits system with scalability were proposed. To assess the efficacy of the soft LLE, the experimental tests that evaluate the sensor data acquisition, force tracking performance, lower limb muscle activity and metabolic cost were conducted. The time error in the peak assistance force was just 1%. The reduction in the normalized root-mean-square EMG of the rectus femoris was 7.1%. The net metabolic cost in exoskeleton on condition was reduced by 7.8% relative to walking with no exoskeleton. The results show that the designed hardware circuits can be applied to the soft LLE and the soft LLE is able to improve walking efficiency of wearers.

Multiagent-based secure energy management for multimedia grid communication using Q-learning In smart grid infrastructure, multimedia communication plays an important role in various applications, for instance, load monitoring, automatic smart meter reading, and energy management. Energy management has gained widespread popularity with the increasing energy demand. The goal of this paper is to explore multiagent-based Reinforcement Learning (RL) for multicarrier (i.e., electricity and gas) Residential Energy Management (REM) systems with data security. It facilitates the possibility for a separate Demand Response Program (DRP) for every energy component accelerates with computational aspects of RL. This paper proposes Q-MSEM, a Q-learning-based Multiagent and Secure Energy Management scheme for the optimal solution of REM problems using RL and Ethereum Blockchain (EB) to reduce energy load and decrease energy costs. Then, Q-MSEM uses Ethereum Smart Contract (ESC) to covenants data security issues using off-chain storage, i.e., InterPlanetary File System (IPFS) to handle data storage costs issues. Experimental results disclose the effectiveness of the proposed Q-MSEM scheme in terms of reduction in load, energy cost (15.82%), and data storage cost.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Ethical Considerations Of Applying Robots In Kindergarten Settings: Towards An Approach From A Macroperspective In child-robot interaction (cHRI) research, many studies pursue the goal to develop interactive systems that can be applied in everyday settings. For early education, increasingly, the setting of a kindergarten is targeted. However, when cHRI and research are brought into a kindergarten, a range of ethical and related procedural aspects have to be considered and dealt with. While ethical models elaborated within other human-robot interaction settings, e.g., assisted living contexts, can provide some important indicators for relevant issues, we argue that it is important to start developing a systematic approach to identify and tackle those ethical issues which rise with cHRI in kindergarten settings on a more global level and address the impact of the technology from a macroperspective beyond the effects on the individual. Based on our experience in conducting studies with children in general and pedagogical considerations on the role of the institution of kindergarten in specific, in this paper, we enfold some relevant aspects that have barely been addressed in an explicit way in current cHRI research. Four areas are analyzed and key ethical issues are identified in each area: (1) the institutional setting of a kindergarten, (2) children as a vulnerable group, (3) the caregivers' role, and (4) pedagogical concepts. With our considerations, we aim at (i) broadening the methodology of the current studies within the area of cHRI, (ii) revalidate it based on our comprehensive empirical experience with research in kindergarten settings, both laboratory and real-world contexts, and (iii) provide a framework for the development of a more systematic approach to address the ethical issues in cHRI research within kindergarten settings.

Dynamic Management of Virtual Infrastructures Cloud infrastructures are becoming an appropriate solution to address the computational needs of scientific applications. However, the use of public or on-premises Infrastructure as a Service (IaaS) clouds requires users to have non-trivial system administration skills. Resource provisioning systems provide facilities to choose the most suitable Virtual Machine Images (VMI) and basic configuration of multiple instances and subnetworks. Other tasks such as the configuration of cluster services, computational frameworks or specific applications are not trivial on the cloud, and normally users have to manually select the VMI that best fits, including undesired additional services and software packages. This paper presents a set of components that ease the access and the usability of IaaS clouds by automating the VMI selection, deployment, configuration, software installation, monitoring and update of Virtual Appliances. It supports APIs from a large number of virtual platforms, making user applications cloud-agnostic. In addition it integrates a contextualization system to enable the installation and configuration of all the user required applications providing the user with a fully functional infrastructure. Therefore, golden VMIs and configuration recipes can be easily reused across different deployments. Moreover, the contextualization agent included in the framework supports horizontal (increase/decrease the number of resources) and vertical (increase/decrease resources within a running Virtual Machine) by properly reconfiguring the software installed, considering the configuration of the multiple resources running. This paves the way for automatic virtual infrastructure deployment, customization and elastic modification at runtime for IaaS clouds.

Infrastructure as a Service and Cloud Technologies To choose the most appropriate cloud-computing model for your organization, you must analyze your IT infrastructure, usage, and needs. To help with this, this article describes cloud computing's current status.

Application Oriented Dynamic Resource Allocation for Data Centers Using Docker Containers. Docker offers an opportunity for further improvement in data centers&#39; (DCs) efficiency. However, existing models and schemes fall short to be efficiently used for Docker container-based resource allocation. We design a novel application oriented Docker container (AODC)-based resource allocation framework to minimize the application deployment cost in DCs, and to support automatic scaling while the...

HSACMA: a hierarchical scalable adaptive cloud monitoring architecture. Monitoring for cloud is the key technology to know the status and the availability of the resources and services present in the current infrastructure. However, cloud monitoring faces a lot of challenges due to inefficient monitoring capability and enormous resource consumption. We study the adaptive monitoring for cloud computing platform, and focus on the problem of balancing monitoring capability and resource consumption. We proposed HSACMA, a hierarchical scalable adaptive monitoring architecture, that (1) monitors the physical and virtual infrastructure at the infrastructure layer, the middleware running at the platform layer, and the application services at the application layer; (2) achieves the scalability of the monitoring based on microservices; and (3) adaptively adjusts the monitoring interval and data transmission strategy according to the running state of the cloud computing system. Moreover, we study a case of real production system deployed and running on the cloud computing platform called CloudStack, to verify the effectiveness of applying our architecture in practice. The results show that HSACMA can guarantee the accuracy and real-time performance of monitoring and reduces resource consumption.

Integrating security and privacy in software development As a consequence to factors such as progress made by the attackers, release of new technologies and use of increasingly complex systems, and threats to applications security have been continuously evolving. Security of code and privacy of data must be implemented in both design and programming practice to face such scenarios. In such a context, this paper proposes a software development approach, Privacy Oriented Software Development (POSD), that complements traditional development processes by integrating the activities needed for addressing security and privacy management in software systems. The approach is based on 5 key elements (Privacy by Design, Privacy Design Strategies, Privacy Pattern, Vulnerabilities, Context). The approach can be applied in two directions forward and backward, for developing new software systems or re-engineering an existing one. This paper presents the POSD approach in the backward mode together with an application in the context of an industrial project. Results show that POSD is able to discover software vulnerabilities, identify the remediation patterns needed for addressing them in the source code, and design the target architecture to be used for guiding privacy-oriented system re-engineering.

Image quality assessment: from error visibility to structural similarity. Objective methods for assessing perceptual image quality traditionally attempted to quantify the visibility of errors (differences) between a distorted image and a reference image using a variety of known properties of the human visual system. Under the assumption that human visual perception is highly adapted for extracting structural information from a scene, we introduce an alternative complementary framework for quality assessment based on the degradation of structural information. As a specific example of this concept, we develop a Structural Similarity Index and demonstrate its promise through a set of intuitive examples, as well as comparison to both subjective ratings and state-of-the-art objective methods on a database of images compressed with JPEG and JPEG2000.

Vision meets robotics: The KITTI dataset We present a novel dataset captured from a VW station wagon for use in mobile robotics and autonomous driving research. In total, we recorded 6 hours of traffic scenarios at 10-100 Hz using a variety of sensor modalities such as high-resolution color and grayscale stereo cameras, a Velodyne 3D laser scanner and a high-precision GPS/IMU inertial navigation system. The scenarios are diverse, capturing real-world traffic situations, and range from freeways over rural areas to inner-city scenes with many static and dynamic objects. Our data is calibrated, synchronized and timestamped, and we provide the rectified and raw image sequences. Our dataset also contains object labels in the form of 3D tracklets, and we provide online benchmarks for stereo, optical flow, object detection and other tasks. This paper describes our recording platform, the data format and the utilities that we provide.

A tutorial on support vector regression In this tutorial we give an overview of the basic ideas underlying Support Vector (SV) machines for function estimation. Furthermore, we include a summary of currently used algorithms for training SV machines, covering both the quadratic (or convex) programming part and advanced methods for dealing with large datasets. Finally, we mention some modifications and extensions that have been applied to the standard SV algorithm, and discuss the aspect of regularization from a SV perspective.

GameFlow: a model for evaluating player enjoyment in games Although player enjoyment is central to computer games, there is currently no accepted model of player enjoyment in games. There are many heuristics in the literature, based on elements such as the game interface, mechanics, gameplay, and narrative. However, there is a need to integrate these heuristics into a validated model that can be used to design, evaluate, and understand enjoyment in games. We have drawn together the various heuristics into a concise model of enjoyment in games that is structured by flow. Flow, a widely accepted model of enjoyment, includes eight elements that, we found, encompass the various heuristics from the literature. Our new model, GameFlow, consists of eight elements -- concentration, challenge, skills, control, clear goals, feedback, immersion, and social interaction. Each element includes a set of criteria for achieving enjoyment in games. An initial investigation and validation of the GameFlow model was carried out by conducting expert reviews of two real-time strategy games, one high-rating and one low-rating, using the GameFlow criteria. The result was a deeper understanding of enjoyment in real-time strategy games and the identification of the strengths and weaknesses of the GameFlow model as an evaluation tool. The GameFlow criteria were able to successfully distinguish between the high-rated and low-rated games and identify why one succeeded and the other failed. We concluded that the GameFlow model can be used in its current form to review games; further work will provide tools for designing and evaluating enjoyment in games.

Adapting visual category models to new domains Domain adaptation is an important emerging topic in computer vision. In this paper, we present one of the first studies of domain shift in the context of object recognition. We introduce a method that adapts object models acquired in a particular visual domain to new imaging conditions by learning a transformation that minimizes the effect of domain-induced changes in the feature distribution. The transformation is learned in a supervised manner and can be applied to categories for which there are no labeled examples in the new domain. While we focus our evaluation on object recognition tasks, the transform-based adaptation technique we develop is general and could be applied to nonimage data. Another contribution is a new multi-domain object database, freely available for download. We experimentally demonstrate the ability of our method to improve recognition on categories with few or no target domain labels and moderate to large changes in the imaging conditions.

A Web-Based Tool For Control Engineering Teaching In this article a new tool for control engineering teaching is presented. The tool was implemented using Java applets and is freely accessible through Web. It allows the analysis and simulation of linear control systems and was created to complement the theoretical lectures in basic control engineering courses. The article is not only centered in the description of the tool but also in the methodology to use it and its evaluation in an electrical engineering degree. Two practical problems are included in the manuscript to illustrate the use of the main functions implemented. The developed web-based tool can be accessed through the link http://www.controlweb.cyc.ull.es. (C) 2006 Wiley Periodicals, Inc.

Adaptive Consensus Control for a Class of Nonlinear Multiagent Time-Delay Systems Using Neural Networks Because of the complicity of consensus control of nonlinear multiagent systems in state time-delay, most of previous works focused only on linear systems with input time-delay. An adaptive neural network (NN) consensus control method for a class of nonlinear multiagent systems with state time-delay is proposed in this paper. The approximation property of radial basis function neural networks (RBFNNs) is used to neutralize the uncertain nonlinear dynamics in agents. An appropriate Lyapunov-Krasovskii functional, which is obtained from the derivative of an appropriate Lyapunov function, is used to compensate the uncertainties of unknown time delays. It is proved that our proposed approach guarantees the convergence on the basis of Lyapunov stability theory. The simulation results of a nonlinear multiagent time-delay system and a multiple collaborative manipulators system show the effectiveness of the proposed consensus control algorithm.

5G Virtualized Multi-access Edge Computing Platform for IoT Applications. The next generation of fifth generation (5G) network, which is implemented using Virtualized Multi-access Edge Computing (vMEC), Network Function Virtualization (NFV) and Software Defined Networking (SDN) technologies, is a flexible and resilient network that supports various Internet of Things (IoT) devices. While NFV provides flexibility by allowing network functions to be dynamically deployed and inter-connected, vMEC provides intelligence at the edge of the mobile network reduces latency and increases the available capacity. With the diverse development of networking applications, the proposed vMEC use of Container-based Virtualization Technology (CVT) as gateway with IoT devices for flow control mechanism in scheduling and analysis methods will effectively increase the application Quality of Service (QoS). In this work, the proposed IoT gateway is analyzed. The combined effect of simultaneously deploying Virtual Network Functions (VNFs) and vMEC applications on a single network infrastructure, and critically in effecting exhibits low latency, high bandwidth and agility that will be able to connect large scale of devices. The proposed platform efficiently exploiting resources from edge computing and cloud computing, and takes IoT applications that adapt to network conditions to degrade an average 30% of end to end network latency.

Energy harvesting algorithm considering max flow problem in wireless sensor networks. In Wireless Sensor Networks (WSNs), sensor nodes with poor energy always have bad effect on the data rate or max flow. These nodes are called bottleneck nodes. In this paper, in order to increase the max flow, we assume an energy harvesting WSNs environment to investigate the cooperation of multiple Mobile Chargers (MCs). MCs are mobile robots that use wireless charging technology to charge sensor nodes in WSNs. This means that in energy harvesting WSNs environments, sensor nodes can obtain energy replenishment by using MCs or collecting energy from nature by themselves. In our research, we use MCs to improve the energy of the sensor nodes by performing multiple rounds of unified scheduling, and finally achieve the purpose of increasing the max flow at sinks. Firstly, we model this problem as a Linear Programming (LP) to search the max flow in a round of charging scheduling and prove that the problem is NP-hard. In order to solve the problem, we propose a heuristic approach: deploying MCs in units of paths with the lowest energy node priority. To reduce the energy consumption of MCs and increase the charging efficiency, we also take the optimization of MCs’ moving distance into our consideration. Finally, we extend the method to multiple rounds of scheduling called BottleNeck. Simulation results show that Bottleneck performs well at increasing max flow.

Towards collaborative robotics in top view surveillance: A framework for multiple object tracking by detection using deep learning Collaborative Robotics is one of the high-interest research topics in the area of academia and industry. It has been progressively utilized in numerous applications, particularly in intelligent surveillance systems. It allows the deployment of smart cameras or optical sensors with computer vision techniques, which may serve in several object detection and tracking tasks. These tasks have been cons...

Generative Adversarial Networks for Parallel Transportation Systems. Generative Adversaria Networks (GANs) have emerged as a promising and effective mechanism for machine learning due to its recent successful applications. GANs share the same idea of producing, testing, acquiring, and utilizing data as well as knowledge based on artificial systems, computational experiments, and parallel execution of actual and virtual scenarios, as outlined in the theory of parall...

Deep Multi-Modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges AbstractRecent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs, Radars), and multiple sensing modalities can be fused to exploit their complementary properties. In this context, many methods have been proposed for deep multi-modal perception problems. However, there is no general guideline for network architecture design, and questions of “what to fuse”, “when to fuse”, and “how to fuse” remain open. This review paper attempts to systematically summarize methodologies and discuss challenges for deep multi-modal object detection and semantic segmentation in autonomous driving. To this end, we first provide an overview of on-board sensors on test vehicles, open datasets, and background information for object detection and semantic segmentation in autonomous driving research. We then summarize the fusion methodologies and discuss challenges and open questions. In the appendix, we provide tables that summarize topics and methods. We also provide an interactive online platform to navigate each reference: https://boschresearch.github.io/multimodalperception/.

Enhanced Object Detection With Deep Convolutional Neural Networks for Advanced Driving Assistance Object detection is a critical problem for advanced driving assistance systems (ADAS). Recently, convolutional neural networks (CNN) achieved large successes on object detection, with performance improvement over traditional approaches, which use hand-engineered features. However, due to the challenging driving environment (e.g., large object scale variation, object occlusion, and bad light conditions), popular CNN detectors do not achieve very good object detection accuracy over the KITTI autonomous driving benchmark dataset. In this paper, we propose three enhancements for CNN-based visual object detection for ADAS. To address the large object scale variation challenge, deconvolution and fusion of CNN feature maps are proposed to add context and deeper features for better object detection at low feature map scales. In addition, soft non-maximal suppression (NMS) is applied across object proposals at different feature scales to address the object occlusion challenge. As the cars and pedestrians have distinct aspect ratio features, we measure their aspect ratio statistics and exploit them to set anchor boxes properly for better object matching and localization. The proposed CNN enhancements are evaluated with various image input sizes by experiments over KITTI dataset. The experimental results demonstrate the effectiveness of the proposed enhancements with good detection performance over KITTI test set.

MFR-CNN: Incorporating Multi-Scale Features and Global Information for Traffic Object Detection. Object detection plays an important role in intelligent transportation systems and intelligent vehicles. Although the topic of object detection has been studied for decades, it is still challenging to accurately detect objects under complex scenarios. The contributing factors for challenges include diversified object and background appearance, motion blur, adverse weather conditions, and complex i...

ParaUDA: Invariant Feature Learning With Auxiliary Synthetic Samples for Unsupervised Domain Adaptation Recognizing and locating objects by algorithms are essential and challenging issues for Intelligent Transportation Systems. However, the increasing demand for much labeled data hinders the further application of deep learning-based object detection. One of the optimal solutions is to train the target model with an existing dataset and then adapt it to new scenes, namely Unsupervised Domain Adaptation (UDA). However, most of existing methods at the pixel level mainly focus on adapting the model from source domain to target domain and ignore the essence of UDA to learn domain-invariant feature learning. Meanwhile, almost all methods at the feature level ignore to make conditional distributions matched for UDA while conducting feature alignment between source and target domain. Considering these problems, this paper proposes the ParaUDA, a novel framework of learning invariant representations for UDA in two aspects: pixel level and feature level. At the pixel level, we adopt CycleGAN to conduct domain transfer and convert the problem of original unsupervised domain adaptation to supervised domain adaptation. At the feature level, we adopt an adversarial adaption model to learn domain-invariant representation by aligning the distributions of domains between different image pairs with same mixture distributions. We evaluate our proposed framework in different scenes, from synthetic scenes to real scenes, from normal weather to challenging weather, and from scenes across cameras. The results of all the above experiments show that ParaUDA is effective and robust for adapting object detection models from source scenes to target scenes.

China's 12-Year Quest of Autonomous Vehicular Intelligence: The Intelligent Vehicles Future Challenge Program In this article, we introduce the Intelligent Vehicles Future Challenge of China (IVFC), which has lasted 12 years. Some key features of the tests and a few interesting findings of IVFC are selected and presented. Through the IVFCs held between 2009 and 2020, we gradually established a set of theories, methods, and tools to collect tests? data and efficiently evaluate the performance of autonomous vehicles so that we could learn how to improve both the autonomous vehicles and the testing system itself.

Rich Feature Hierarchies for Accurate Object Detection and Semantic Segmentation Object detection performance, as measured on the canonical PASCAL VOC dataset, has plateaued in the last few years. The best-performing methods are complex ensemble systems that typically combine multiple low-level image features with high-level context. In this paper, we propose a simple and scalable detection algorithm that improves mean average precision (mAP) by more than 30% relative to the previous best result on VOC 2012 -- achieving a mAP of 53.3%. Our approach combines two key insights: (1) one can apply high-capacity convolutional neural networks (CNNs) to bottom-up region proposals in order to localize and segment objects and (2) when labeled training data is scarce, supervised pre-training for an auxiliary task, followed by domain-specific fine-tuning, yields a significant performance boost. Since we combine region proposals with CNNs, we call our method R-CNN: Regions with CNN features. We also present experiments that provide insight into what the network learns, revealing a rich hierarchy of image features. Source code for the complete system is available at http://www.cs.berkeley.edu/~rbg/rcnn.

A comparative study of texture measures with classification based on featured distributions This paper evaluates the performance both of some texture measures which have been successfully used in various applications and of some new promising approaches proposed recently. For classification a method based on Kullback discrimination of sample and prototype distributions is used. The classification results for single features with one-dimensional feature value distributions and for pairs of complementary features with two-dimensional distributions are presented

Social Perception and Steering for Online Avatars This paper presents work on a new platform for producing realistic group conversation dynamics in shared virtual environments. An avatar, representing users, should perceive the surrounding social environment just as humans would, and use the perceptual information for driving low level reactive behaviors. Unconscious reactions serve as evidence of life, and can also signal social availability and spatial awareness to others. These behaviors get lost when avatar locomotion requires explicit user control. For automating such behaviors we propose a steering layer in the avatars that manages a set of prioritized behaviors executed at different frequencies, which can be activated or deactivated and combined together. This approach gives us enough flexibility to model the group dynamics of social interactions as a set of social norms that activate relevant steering behaviors. A basic set of behaviors is described for conversations, some of which generate a social force field that makes the formation of conversation groups fluidly adapt to external and internal noise, through avatar repositioning and reorientations. The resulting social group behavior appears relatively robust, but perhaps more importantly, it starts to bring a new sense of relevance and continuity to the virtual bodies that often get separated from the ongoing conversation in the chat window.

Node Reclamation and Replacement for Long-Lived Sensor Networks When deployed for long-term tasks, the energy required to support sensor nodes' activities is far more than the energy that can be preloaded in their batteries. No matter how the battery energy is conserved, once the energy is used up, the network life terminates. Therefore, guaranteeing long-term energy supply has persisted as a big challenge. To address this problem, we propose a node reclamation and replacement (NRR) strategy, with which a mobile robot or human labor called mobile repairman (MR) periodically traverses the sensor network, reclaims nodes with low or no power supply, replaces them with fully charged ones, and brings the reclaimed nodes back to an energy station for recharging. To effectively and efficiently realize the strategy, we develop an adaptive rendezvous-based two-tier scheduling scheme (ARTS) to schedule the replacement/reclamation activities of the MR and the duty cycles of nodes. Extensive simulations have been conducted to verify the effectiveness and efficiency of the ARTS scheme.

Haptic feedback for enhancing realism of walking simulations. In this paper, we describe several experiments whose goal is to evaluate the role of plantar vibrotactile feedback in enhancing the realism of walking experiences in multimodal virtual environments. To achieve this goal we built an interactive and a noninteractive multimodal feedback system. While during the use of the interactive system subjects physically walked, during the use of the noninteractive system the locomotion was simulated while subjects were sitting on a chair. In both the configurations subjects were exposed to auditory and audio-visual stimuli presented with and without the haptic feedback. Results of the experiments provide a clear preference toward the simulations enhanced with haptic feedback showing that the haptic channel can lead to more realistic experiences in both interactive and noninteractive configurations. The majority of subjects clearly appreciated the added feedback. However, some subjects found the added feedback unpleasant. This might be due, on one hand, to the limits of the haptic simulation and, on the other hand, to the different individual desire to be involved in the simulations. Our findings can be applied to the context of physical navigation in multimodal virtual environments as well as to enhance the user experience of watching a movie or playing a video game.

Vehicular Sensing Networks in a Smart City: Principles, Technologies and Applications. Given the escalating population across the globe, it has become paramount to construct smart cities, aiming for improving the management of urban flows relying on efficient information and communication technologies (ICT). Vehicular sensing networks (VSNs) play a critical role in maintaining the efficient operation of smart cities. Naturally, there are numerous challenges to be solved before the w...

Dual-objective mixed integer linear program and memetic algorithm for an industrial group scheduling problem Group scheduling problems have attracted much attention owing to their many practical applications. This work proposes a new bi-objective serial-batch group scheduling problem considering the constraints of sequence-dependent setup time, release time, and due time. It is originated from an important industrial process, i.e., wire rod and bar rolling process in steel production systems. Two objecti...

Active Open Learner Models as Animal Companions: Motivating Children to Learn through Interacting with My-Pet and Our-Pet This pilot study reports how to portray open learner models as animal companions in order to motivate children to learn in the digital classroom environment. To meet two challenges of motivation and interactivity for open learner models, the concept of open learner models as animal companions is proposed based on the emotional attachment of humans towards pets. Animal companions adopt three strategies and play various educational roles to help children's learning in motivation, reflection and member interactions. A class of students is divided into several teams. A student keeps her own individual animal companion, called My-Pet, which holds the open learner model of the student, and each team has a team animal companion, called Our-Pet, which owns their open group learner model. A preliminary experiment is conducted in a fifth-grade class with 31 eleven year old students in an elementary school to collect initial feedback in cognitive and affective aspects.

Lifelong Learner Modeling for Lifelong Personalized Pervasive Learning Pervasive and ubiquitous computing have the potential to make huge changes in the ways that we will learn, throughout our lives. This paper presents a vision for the lifelong user model as a first class citizen, existing independently of any single application and controlled by the learner. The paper argues that this is a critical foundation for a vision of personalised lifelong learning as well as a form of augmented cognition that enables learners to supplement their own knowledge with readily accessible digital information based on documents that they have accessed or used. The paper presents work that provides foundations for this vision for a lifelong user model. First, it outlines technical issues and research into approaches for addressing them. Then it presents work on the interface between the learner and the lifelong user model because the human issues of control and privacy are so central. The final discussion and conclusions draw upon these to define a roadmap for future research in a selection of the key areas that will underpin this vision of the lifelong user model.

IntrospectiveViews: an interface for scrutinizing semantic user models User models are a key component for user-adaptive systems They represent information about users such as interests, expertise, goals, traits, etc This information is used to achieve various adaptation effects, e.g., recommending relevant documents or products To ensure acceptance by users, these models need to be scrutable, i.e., users must be able to view and alter them to understand and if necessary correct the assumptions the system makes about the user However, in most existing systems, this goal is not met In this paper, we introduce IntrospectiveViews, an interface that enables the user to view and edit her user model Furthermore, we present the results of a formative evaluation that show the importance users give in general to different aspects of scrutable user models and also substantiate our claim that IntrospectiveViews is an appropriate realization of an interface to such models.

AnnotatEd: A social navigation and annotation service for web-based educational resources Web page annotation and adaptive navigation support are two active, but independent research directions focused on the same goal: expanding the functionality of the Web as a hypertext system. The goal of the AnnotatEd system presented in this paper has been to integrate annotation and adaptive navigation support into a single value-added service where the components can reinforce each other and create new unique attributes. This paper describes the implementation of AnnotatEd from early prototypes to the current version, which has been explored in several contexts. We summarize some lessons we learned during the development process and which defined the current functionality of the system. We also present the results of several classroom studies of the system. These results demonstrate the importance of the browsing-based information access supported by AnnotatEd and the value of both the annotation and navigation support functionalities offered by the system.

A Web-Based Tool For Control Engineering Teaching In this article a new tool for control engineering teaching is presented. The tool was implemented using Java applets and is freely accessible through Web. It allows the analysis and simulation of linear control systems and was created to complement the theoretical lectures in basic control engineering courses. The article is not only centered in the description of the tool but also in the methodology to use it and its evaluation in an electrical engineering degree. Two practical problems are included in the manuscript to illustrate the use of the main functions implemented. The developed web-based tool can be accessed through the link http://www.controlweb.cyc.ull.es. (C) 2006 Wiley Periodicals, Inc.

Inspecting and Visualizing Distributed Bayesian Student Models Bayesian Belief Networks provide a principled, mathematically sound, and logically rational mechanism to represent student models. The belief net backbone structure proposed by Reye [14,15] offers a practical way to represent and update Bayesian student models describing both cognitive and social aspects of the learner. Considering students as active participants in the modelling process, this paper explores visualization and inspectability issues of Bayesian student modelling. This paper also presents ViSMod an integrated tool to visualize and inspect distributed Bayesian student models.

Investigating children's opinions of games: Fun Toolkit vs. This or That Over the past decade many new evaluation methods have emerged for evaluating user experience with children, but the results of these studies have tended to be reported in isolation of other techniques. This paper reports on a comparative analysis of 2 user experience evaluations methods with children. A within-subject design was adopted using 20 children aged between 7 and 8. The children played 2 different games on a tablet PCs and their experiences of each were captured using 2 evaluation methods which have been validated with children: the Fun Toolkit and This or That. The results showed that the Fun Toolkit and This or That method yielded similar results and were able to establish a preference for one game over the other. However, there were some inconsistencies between the results of individual tools within the Fun toolkit and some of the constructs being measured in the This or That method. Further research will try to identify any ordering effects within each method and redundancies within the questions.

Wireless sensor networks: a survey This paper describes the concept of sensor networks which has been made viable by the convergence of micro-electro-mechanical systems technology, wireless communications and digital electronics. First, the sensing tasks and the potential sensor networks applications are explored, and a review of factors influencing the design of sensor networks is provided. Then, the communication architecture for sensor networks is outlined, and the algorithms and protocols developed for each layer in the literature are explored. Open research issues for the realization of sensor networks are also discussed.

Delay-Aware Microservice Coordination in Mobile Edge Computing: A Reinforcement Learning Approach As an emerging service architecture, microservice enables decomposition of a monolithic web service into a set of independent lightweight services which can be executed independently. With mobile edge computing, microservices can be further deployed in edge clouds dynamically, launched quickly, and migrated across edge clouds easily, providing better services for users in proximity. However, the user mobility can result in frequent switch of nearby edge clouds, which increases the service delay when users move away from their serving edge clouds. To address this issue, this article investigates microservice coordination among edge clouds to enable seamless and real-time responses to service requests from mobile users. The objective of this work is to devise the optimal microservice coordination scheme which can reduce the overall service delay with low costs. To this end, we first propose a dynamic programming-based offline microservice coordination algorithm, that can achieve the globally optimal performance. However, the offline algorithm heavily relies on the availability of the prior information such as computation request arrivals, time-varying channel conditions and edge cloud's computation capabilities required, which is hard to be obtained. Therefore, we reformulate the microservice coordination problem using Markov decision process framework and then propose a reinforcement learning-based online microservice coordination algorithm to learn the optimal strategy. Theoretical analysis proves that the offline algorithm can find the optimal solution while the online algorithm can achieve near-optimal performance. Furthermore, based on two real-world datasets, i.e., the Telecom's base station dataset and Taxi Track dataset from Shanghai, experiments are conducted. The experimental results demonstrate that the proposed online algorithm outperforms existing algorithms in terms of service delay and migration costs, and the achieved performance is close to the optimal performance obtained by the offline algorithm.

Trust in Automation: Designing for Appropriate Reliance. Automation is often problematic because people fail to rely upon it appropriately. Because people respond to technology socially, trust influences reliance on automation. In particular, trust guides reliance when complexity and unanticipated situations make a complete understanding of the automation impractical. This review considers trust from the organizational, sociological, interpersonal, psychological, and neurological perspectives. It considers how the context, automation characteristics, and cognitive processes affect the appropriateness of trust. The context in which the automation is used influences automation performance and provides a goal-oriented perspective to assess automation characteristics along a dimension of attributional abstraction. These characteristics can influence trust through analytic, analogical, and affective processes. The challenges of extrapolating the concept of trust in people to trust in automation are discussed. A conceptual model integrates research regarding trust in automation and describes the dynamics of trust, the role of context, and the influence of display characteristics. Actual or potential applications of this research include improved designs of systems that require people to manage imperfect automation.

A novel full structure optimization algorithm for radial basis probabilistic neural networks. In this paper, a novel full structure optimization algorithm for radial basis probabilistic neural networks (RBPNN) is proposed. Firstly, a minimum volume covering hyperspheres (MVCH) algorithm is proposed to heuristically select the initial hidden layer centers of the RBPNN, and then the recursive orthogonal least square (ROLS) algorithm combined with the particle swarm optimization (PSO) algorithm is adopted to further optimize the initial structure of the RBPNN. Finally, the effectiveness and efficiency of our proposed algorithm are evaluated through a plant species identification task involving 50 plant species.

GROPING: Geomagnetism and cROwdsensing Powered Indoor NaviGation Although a large number of WiFi fingerprinting based indoor localization systems have been proposed, our field experience with Google Maps Indoor (GMI), the only system available for public testing, shows that it is far from mature for indoor navigation. In this paper, we first report our field studies with GMI, as well as experiment results aiming to explain our unsatisfactory GMI experience. Then motivated by the obtained insights, we propose GROPING as a self-contained indoor navigation system independent of any infrastructural support. GROPING relies on geomagnetic fingerprints that are far more stable than WiFi fingerprints, and it exploits crowdsensing to construct floor maps rather than expecting individual venues to supply digitized maps. Based on our experiments with 20 participants in various floors of a big shopping mall, GROPING is able to deliver a sufficient accuracy for localization and thus provides smooth navigation experience.

Collective feature selection to identify crucial epistatic variants. In this study, we were able to show that selecting variables using a collective feature selection approach could help in selecting true positive epistatic variables more frequently than applying any single method for feature selection via simulation studies. We were able to demonstrate the effectiveness of collective feature selection along with a comparison of many methods in our simulation analysis. We also applied our method to identify non-linear networks associated with obesity.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Linear Quadratic Tracking Control of Partially-Unknown Continuous-Time Systems Using Reinforcement Learning. In this technical note, an online learning algorithm is developed to solve the linear quadratic tracking (LQT) problem for partially-unknown continuous-time systems. It is shown that the value function is quadratic in terms of the state of the system and the command generator. Based on this quadratic form, an LQT Bellman equation and an LQT algebraic Riccati equation (ARE) are derived to solve the LQT problem. The integral reinforcement learning technique is used to find the solution to the LQT ARE online and without requiring the knowledge of the system drift dynamics or the command generator dynamics. The convergence of the proposed online algorithm to the optimal control solution is verified. To show the efficiency of the proposed approach, a simulation example is provided.

Global Adaptive Dynamic Programming for Continuous-Time Nonlinear Systems This paper presents a novel method of global adaptive dynamic programming (ADP) for the adaptive optimal control of nonlinear polynomial systems. The strategy consists of relaxing the problem of solving the Hamilton-Jacobi-Bellman (HJB) equation to an optimization problem, which is solved via a new policy iteration method. The proposed method distinguishes from previously known nonlinear ADP methods in that the neural network approximation is avoided, giving rise to signicant computational improvement. Instead of semiglobally or locally stabilizing, the resultant control policy is globally stabilizing for a general class of nonlinear polynomial systems. Furthermore, in the absence of the a priori knowledge of the system dynamics, an online learning method is devised to implement the proposed policy iteration technique by generalizing the current ADP theory. Finally, three numerical examples are provided to validate the effectiveness of the proposed method.

Error bounds of adaptive dynamic programming algorithms for solving undiscounted optimal control problems. In this paper, we establish error bounds of adaptive dynamic programming algorithms for solving undiscounted infinite-horizon optimal control problems of discrete-time deterministic nonlinear systems. We consider approximation errors in the update equations of both value function and control policy. We utilize a new assumption instead of the contraction assumption in discounted optimal control problems. We establish the error bounds for approximate value iteration based on a new error condition. Furthermore, we also establish the error bounds for approximate policy iteration and approximate optimistic policy iteration algorithms. It is shown that the iterative approximate value function can converge to a finite neighborhood of the optimal value function under some conditions. To implement the developed algorithms, critic and action neural networks are used to approximate the value function and control policy, respectively. Finally, a simulation example is given to demonstrate the effectiveness of the developed algorithms.

Inexact Kleinman-Newton Method for Riccati Equations In this paper we consider the numerical solution of the algebraic Riccati equation using Newton's method. We propose an inexact variant which allows one control the number of the inner iterates used in an iterative solver for each Newton step. Conditions are given under which the monotonicity and global convergence result of Kleinman also hold for the inexact Newton iterates. Numerical results illustrate the efficiency of this method.

Data-Driven Robust Control of Discrete-Time Uncertain Linear Systems via Off-Policy Reinforcement Learning. This paper presents a model-free solution to the robust stabilization problem of discrete-time linear dynamical systems with bounded and mismatched uncertainty. An optimal controller design method is derived to solve the robust control problem, which results in solving an algebraic Riccati equation (ARE). It is shown that the optimal controller obtained by solving the ARE can robustly stabilize the uncertain system. To develop a model-free solution to the translated ARE, off-policy reinforcement learning (RL) is employed to solve the problem in hand without the requirement of system dynamics. In addition, the comparisons between on- and off-policy RL methods are presented regarding the robustness to probing noise and the dependence on system dynamics. Finally, a simulation example is carried out to validate the efficacy of the presented off-policy RL approach.

Hamiltonian-Driven Adaptive Dynamic Programming for Continuous Nonlinear Dynamical Systems. This paper presents a Hamiltonian-driven framework of adaptive dynamic programming (ADP) for continuous time nonlinear systems, which consists of evaluation of an admissible control, comparison between two different admissible policies with respect to the corresponding the performance function, and the performance improvement of an admissible control. It is showed that the Hamiltonian can serve as...

Deep learning in neural networks: An overview. In recent years, deep artificial neural networks (including recurrent ones) have won numerous contests in pattern recognition and machine learning. This historical survey compactly summarizes relevant work, much of it from the previous millennium. Shallow and Deep Learners are distinguished by the depth of their credit assignment paths, which are chains of possibly learnable, causal links between actions and effects. I review deep supervised learning (also recapitulating the history of backpropagation), unsupervised learning, reinforcement learning & evolutionary computation, and indirect search for short programs encoding deep and large networks.

Adaptive Human–Robot Interaction Control for Robots Driven by Series Elastic Actuators Series elastic actuators (SEAs) are known to offer a range of advantages over stiff actuators for human–robot interaction, such as high force/torque fidelity, low impedance, and tolerance to shocks. While a variety of SEAs have been developed and implemented in initiatives that involve physical interactions with humans, relatively few control schemes were proposed to deal with the dynamic stability and uncertainties of robotic systems driven by SEAs, and the open issue of safety that resolves the conflicts of motion between the human and the robot has not been systematically addressed. In this paper, a novel continuous adaptive control method is proposed for SEA-driven robots used in human–robot interaction. The proposed method provides a unified formulation for both the robot-in-charge mode, where the robot plays a dominant role to follow a desired trajectory, and the human-in-charge mode, in which the human plays a dominant role to guide the movement of robot. Instead of designing multiple controllers and switching between them, both typical modes are integrated into a single controller, and the transition between two modes is smooth and stable. Therefore, the proposed controller is able to detect the human motion intention and guarantee the safe human–robot interaction. The dynamic stability of the closed-loop system is theoretically proven by using the Lyapunov method, with the consideration of uncertainties in both the robot dynamics and the actuator dynamics. Both simulation and experimental results are presented to illustrate the performance of the proposed controller.

Massive MIMO for next generation wireless systems Multi-user MIMO offers big advantages over conventional point-to-point MIMO: it works with cheap single-antenna terminals, a rich scattering environment is not required, and resource allocation is simplified because every active terminal utilizes all of the time-frequency bins. However, multi-user MIMO, as originally envisioned, with roughly equal numbers of service antennas and terminals and frequency-division duplex operation, is not a scalable technology. Massive MIMO (also known as large-scale antenna systems, very large MIMO, hyper MIMO, full-dimension MIMO, and ARGOS) makes a clean break with current practice through the use of a large excess of service antennas over active terminals and time-division duplex operation. Extra antennas help by focusing energy into ever smaller regions of space to bring huge improvements in throughput and radiated energy efficiency. Other benefits of massive MIMO include extensive use of inexpensive low-power components, reduced latency, simplification of the MAC layer, and robustness against intentional jamming. The anticipated throughput depends on the propagation environment providing asymptotically orthogonal channels to the terminals, but so far experiments have not disclosed any limitations in this regard. While massive MIMO renders many traditional research problems irrelevant, it uncovers entirely new problems that urgently need attention: the challenge of making many low-cost low-precision components that work effectively together, acquisition and synchronization for newly joined terminals, the exploitation of extra degrees of freedom provided by the excess of service antennas, reducing internal power consumption to achieve total energy efficiency reductions, and finding new deployment scenarios. This article presents an overview of the massive MIMO concept and contemporary research on the topic.

Quantization index modulation: a class of provably good methods for digital watermarking and information embedding We consider the problem of embedding one signal (e.g., a digital watermark), within another “host” signal to form a third, “composite” signal. The embedding is designed to achieve efficient tradeoffs among the three conflicting goals of maximizing the information-embedding rate, minimizing the distortion between the host signal and composite signal, and maximizing the robustness of the embedding. We introduce new classes of embedding methods, termed quantization index modulation (QIM) and distortion-compensated QIM (DC-QIM), and develop convenient realizations in the form of what we refer to as dither modulation. Using deterministic models to evaluate digital watermarking methods, we show that QIM is “provably good” against arbitrary bounded and fully informed attacks, which arise in several copyright applications, and in particular it achieves provably better rate distortion-robustness tradeoffs than currently popular spread-spectrum and low-bit(s) modulation methods. Furthermore, we show that for some important classes of probabilistic models, DC-QIM is optimal (capacity-achieving) and regular QIM is near-optimal. These include both additive white Gaussian noise (AWGN) channels, which may be good models for hybrid transmission applications such as digital audio broadcasting, and mean-square-error-constrained attack channels that model private-key watermarking applications

Who is Afraid of the Humanoid? Investigating Cultural Differences in the Acceptance of Robots

Stochastic Power Adaptation with Multiagent Reinforcement Learning for Cognitive Wireless Mesh Networks As the scarce spectrum resource is becoming overcrowded, cognitive radio indicates great flexibility to improve the spectrum efficiency by opportunistically accessing the authorized frequency bands. One of the critical challenges for operating such radios in a network is how to efficiently allocate transmission powers and frequency resource among the secondary users (SUs) while satisfying the quality-of-service constraints of the primary users. In this paper, we focus on the noncooperative power allocation problem in cognitive wireless mesh networks formed by a number of clusters with the consideration of energy efficiency. Due to the SUs' dynamic and spontaneous properties, the problem is modeled as a stochastic learning process. We first extend the single-agent $(Q)$-learning to a multiuser context, and then propose a conjecture-based multiagent $(Q)$-learning algorithm to achieve the optimal transmission strategies with only private and incomplete information. An intelligent SU performs $(Q)$-function updates based on the conjecture over the other SUs' stochastic behaviors. This learning algorithm provably converges given certain restrictions that arise during the learning procedure. Simulation experiments are used to verify the performance of our algorithm and demonstrate its effectiveness of improving the energy efficiency.

Finite-Time Adaptive Fuzzy Tracking Control Design for Nonlinear Systems. This paper addresses the finite-time tracking problem of nonlinear pure-feedback systems. Unlike the literature on traditional finite-time stabilization, in this paper the nonlinear system functions, including the bounding functions, are all totally unknown. Fuzzy logic systems are used to model those unknown functions. To present a finite-time control strategy, a criterion of semiglobal practical...

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

A binary artificial bee colony algorithm for constructing spanning trees in vehicular ad hoc networks. To accomplish reliable and efficient information routing, strong paths connecting all nodes are required in vehicular ad hoc networks (VANETs). Classical algorithms in graphic theory could find only one minimum spanning tree (MST) in VANETs. Swarm intelligence paradigms are able to obtain several alternatives to MST, which is useful for improving reliability of VANETs. This paper proposes a binary coded artificial bee colony (BABC) algorithm for tackling the spanning tree construction problem. A two-element variation technique is designed to keep the consistence of binary coded solutions. The proposed algorithm is applied to tackle a roadside-to-vehicle communication example. The success rate and average hitting time of the algorithm to find MST are also analyzed. It is found that the BABC algorithm could find MST with 92% probability. Though it is slower than Kruskal algorithm in terms of computational time, the BABC algorithm can attain several suboptimal spanning trees in one run. This suggests that the algorithm would be useful under the condition that tree paths are required to be rebuilt frequently while the network topology is unchanged in a short period.

On the History of the Minimum Spanning Tree Problem It is standard practice among authors discussing the minimum spanning tree problem to refer to the work of Kruskal(1956) and Prim (1957) as the sources of the problem and its first efficient solutions, despite the citation by both of Boruvka (1926) as a predecessor. In fact, there are several apparently independent sources and algorithmic solutions of the problem. They have appeared in Czechoslovakia, France, and Poland, going back to the beginning of this century. We shall explore and compare these works and their motivations, and relate them to the most recent advances on the minimum spanning tree problem.

Smart home energy management system using IEEE 802.15.4 and zigbee Wireless personal area network and wireless sensor networks are rapidly gaining popularity, and the IEEE 802.15 Wireless Personal Area Working Group has defined no less than different standards so as to cater to the requirements of different applications. The ubiquitous home network has gained widespread attentions due to its seamless integration into everyday life. This innovative system transparently unifies various home appliances, smart sensors and energy technologies. The smart energy market requires two types of ZigBee networks for device control and energy management. Today, organizations use IEEE 802.15.4 and ZigBee to effectively deliver solutions for a variety of areas including consumer electronic device control, energy management and efficiency, home and commercial building automation as well as industrial plant management. We present the design of a multi-sensing, heating and airconditioning system and actuation application - the home users: a sensor network-based smart light control system for smart home and energy control production. This paper designs smart home device descriptions and standard practices for demand response and load management "Smart Energy" applications needed in a smart energy based residential or light commercial environment. The control application domains included in this initial version are sensing device control, pricing and demand response and load control applications. This paper introduces smart home interfaces and device definitions to allow interoperability among ZigBee devices produced by various manufacturers of electrical equipment, meters, and smart energy enabling products. We introduced the proposed home energy control systems design that provides intelligent services for users and we demonstrate its implementation using a real testbad.

Bee life-based multi constraints multicast routing optimization for vehicular ad hoc networks. A vehicular ad hoc network (VANET) is a subclass of mobile ad hoc networks, considered as one of the most important approach of intelligent transportation systems (ITS). It allows inter-vehicle communication in which their movement is restricted by a VANET mobility model and supported by some roadside base stations as fixed infrastructures. Multicasting provides different traffic information to a limited number of vehicle drivers by a parallel transmission. However, it represents a very important challenge in the application of vehicular ad hoc networks especially, in the case of the network scalability. In the applications of this sensitive field, it is very essential to transmit correct data anywhere and at any time. Consequently, the VANET routing protocols should be adapted appropriately and meet effectively the quality of service (QoS) requirements in an optimized multicast routing. In this paper, we propose a novel bee colony optimization algorithm called bees life algorithm (BLA) applied to solve the quality of service multicast routing problem (QoS-MRP) for vehicular ad hoc networks as NP-Complete problem with multiple constraints. It is considered as swarm-based algorithm which imitates closely the life of the colony. It follows the two important behaviors in the nature of bees which are the reproduction and the food foraging. BLA is applied to solve QoS-MRP with four objectives which are cost, delay, jitter, and bandwidth. It is also submitted to three constraints which are maximum allowed delay, maximum allowed jitter and minimum requested bandwidth. In order to evaluate the performance and the effectiveness of this realized proposal using C++ and integrated at the routing protocol level, a simulation study has been performed using the network simulator (NS2) based on a mobility model of VANET. The comparisons of the experimental results show that the proposed algorithm outperformed in an efficient way genetic algorithm (GA), bees algorithm (BA) and marriage in honey bees optimization (MBO) algorithm as state-of-the-art conventional metaheuristics applied to QoS-MRP problem with the same simulation parameters.

On the Spatiotemporal Traffic Variation in Vehicle Mobility Modeling Several studies have shown the importance of realistic micromobility and macromobility modeling in vehicular ad hoc networks (VANETs). At the macroscopic level, most researchers focus on a detailed and accurate description of road topology. However, a key factor often overlooked is a spatiotemporal configuration of vehicular traffic. This factor greatly influences network topology and topology variations. Indeed, vehicle distribution has high spatial and temporal diversity that depends on the time of the day and place attraction. This diversity impacts the quality of radio links and, thus, network topology. In this paper, we propose a new mobility model for vehicular networks in urban and suburban environments. To reproduce realistic network topology and topological changes, the model uses real static and dynamic data on the environment. The data concern particularly the topographic and socioeconomic characteristics of infrastructures and the spatiotemporal population distribution. We validate our model by comparing the simulation results with real data derived from individual displacement survey. We also present statistics on network topology, which show the interest of taking into account the spatiotemporal mobility variation.

Effective crowdsensing and routing algorithms for next generation vehicular networks The vehicular ad hoc network (VANET) has recently emerged as a promising networking technique attracting both the vehicular manufacturing industry and the academic community. Therefore, the design of next generation VANET management schemes becomes an important issue to satisfy the new demands. However, it is difficult to adapt traditional control approaches, which have already proven reliable in ad-hoc wireless networks, directly. In this study, we focus on the development of vehicular crowdsensing and routing algorithms in VANETs. The proposed scheme, which is based on reinforcement learning and game theory, is designed as novel vertical and horizontal game models, and provides an effective dual-plane control mechanism. In a vertical game, network agent and vehicles work together toward an appropriate crowdsensing process. In a horizontal game, vehicles select their best routing route for the VANET routing. Based on the decentralized, distributed manner, our dual-plane game paradigm captures the dynamics of the VANET system. Simulations and performance analysis verify the efficiency of the proposed scheme, showing that our approach can outperform existing schemes in terms of RSU’s task success ratio, normalized routing throughput, and end-to-end packet delay.

An enhanced QoS CBT multicast routing protocol based on Genetic Algorithm in a hybrid HAP-Satellite system A QoS multicast routing scheme based on Genetic Algorithms (GA) heuristic is presented in this paper. Our proposal, called Constrained Cost–Bandwidth–Delay Genetic Algorithm (CCBD-GA), is applied to a multilayer hybrid platform that includes High Altitude Platforms (HAPs) and a Satellite platform. This GA scheme has been compared with another GA well-known in the literature called Multi-Objective Genetic Algorithm (MOGA) in order to show the proposed algorithm goodness. In order to test the efficiency of GA schemes on a multicast routing protocol, these GA schemes are inserted into an enhanced version of the Core-Based Tree (CBT) protocol with QoS support. CBT and GA schemes are tested in a multilayer hybrid HAP and Satellite architecture and interesting results have been discovered. The joint bandwidth–delay metrics can be very useful in hybrid platforms such as that considered, because it is possible to take advantage of the single characteristics of the Satellite and HAP segments. The HAP segment offers low propagation delay permitting QoS constraints based on maximum end-to-end delay to be met. The Satellite segment, instead, offers high bandwidth capacity with higher propagation delay. The joint bandwidth–delay metric permits the balancing of the traffic load respecting both QoS constraints. Simulation results have been evaluated in terms of HAP and Satellite utilization, bandwidth, end-to-end delay, fitness function and cost of the GA schemes.

On the ratio of optimal integral and fractional covers It is shown that the ratio of optimal integral and fractional covers of a hypergraph does not exceed 1 + log d , where d is the maximum degree. This theorem may replace probabilistic methods in certain circumstances. Several applications are shown.

Task Offloading in Vehicular Edge Computing Networks: A Load-Balancing Solution Recently, the rapid advance of vehicular networks has led to the emergence of diverse delay-sensitive vehicular applications such as automatic driving, auto navigation. Note that existing resource-constrained vehicles cannot adequately meet these demands on low / ultra-low latency. By offloading parts of the vehicles’ compute-intensive tasks to the edge servers in proximity, mobile edge computing is envisioned as a promising paradigm, giving rise to the vehicular edge computing networks (VECNs). However, most existing works on task offloading in VECNs did not take the load balancing of the computation resources at the edge servers into account. To address these issues and given the high dynamics of vehicular networks, we introduce fiber-wireless (FiWi) technology to enhance VECNs, due to its advantages on centralized network management and supporting multiple communication techniques. Aiming to minimize the processing delay of the vehicles’ computation tasks, we propose a software-defined networking (SDN) based load-balancing task offloading scheme in FiWi enhanced VECNs, where SDN is introduced to provide supports for the centralized network and vehicle information management. Extensive analysis and numerical results corroborate that our proposed load-balancing scheme can achieve superior performance on processing delay reduction by utilizing the edge servers’ computation resources more efficiently.

A hierarchical type-2 fuzzy logic control architecture for autonomous mobile robots Autonomous mobile robots navigating in changing and dynamic unstructured environments like the outdoor environments need to cope with large amounts of uncertainties that are inherent of natural environments. The traditional type-1 fuzzy logic controller (FLC) using precise type-1 fuzzy sets cannot fully handle such uncertainties. A type-2 FLC using type-2 fuzzy sets can handle such uncertainties to produce a better performance. In this paper, we present a novel reactive control architecture for autonomous mobile robots that is based on type-2 FLC to implement the basic navigation behaviors and the coordination between these behaviors to produce a type-2 hierarchical FLC. In our experiments, we implemented this type-2 architecture in different types of mobile robots navigating in indoor and outdoor unstructured and challenging environments. The type-2-based control system dealt with the uncertainties facing mobile robots in unstructured environments and resulted in a very good performance that outperformed the type-1-based control system while achieving a significant rule reduction compared to the type-1 system.

Multi-stage genetic programming: A new strategy to nonlinear system modeling This paper presents a new multi-stage genetic programming (MSGP) strategy for modeling nonlinear systems. The proposed strategy is based on incorporating the individual effect of predictor variables and the interactions among them to provide more accurate simulations. According to the MSGP strategy, an efficient formulation for a problem comprises different terms. In the first stage of the MSGP-based analysis, the output variable is formulated in terms of an influencing variable. Thereafter, the error between the actual and the predicted value is formulated in terms of a new variable. Finally, the interaction term is derived by formulating the difference between the actual values and the values predicted by the individually developed terms. The capabilities of MSGP are illustrated by applying it to the formulation of different complex engineering problems. The problems analyzed herein include the following: (i) simulation of pH neutralization process, (ii) prediction of surface roughness in end milling, and (iii) classification of soil liquefaction conditions. The validity of the proposed strategy is confirmed by applying the derived models to the parts of the experimental results that were not included in the analyses. Further, the external validation of the models is verified using several statistical criteria recommended by other researchers. The MSGP-based solutions are capable of effectively simulating the nonlinear behavior of the investigated systems. The results of MSGP are found to be more accurate than those of standard GP and artificial neural network-based models.

Placing Virtual Machines to Optimize Cloud Gaming Experience Optimizing cloud gaming experience is no easy task due to the complex tradeoff between gamer quality of experience (QoE) and provider net profit. We tackle the challenge and study an optimization problem to maximize the cloud gaming provider's total profit while achieving just-good-enough QoE. We conduct measurement studies to derive the QoE and performance models. We formulate and optimally solve the problem. The optimization problem has exponential running time, and we develop an efficient heuristic algorithm. We also present an alternative formulation and algorithms for closed cloud gaming services with dedicated infrastructures, where the profit is not a concern and overall gaming QoE needs to be maximized. We present a prototype system and testbed using off-the-shelf virtualization software, to demonstrate the practicality and efficiency of our algorithms. Our experience on realizing the testbed sheds some lights on how cloud gaming providers may build up their own profitable services. Last, we conduct extensive trace-driven simulations to evaluate our proposed algorithms. The simulation results show that the proposed heuristic algorithms: (i) produce close-to-optimal solutions, (ii) scale to large cloud gaming services with 20,000 servers and 40,000 gamers, and (iii) outperform the state-of-the-art placement heuristic, e.g., by up to 3.5 times in terms of net profits.

Adversarial Example Generation with Syntactically Controlled Paraphrase Networks. We propose syntactically controlled paraphrase networks (SCPNs) and use them to generate adversarial examples. Given a sentence and a target syntactic form (e.g., a constituency parse), SCPNs are trained to produce a paraphrase of the sentence with the desired syntax. We show it is possible to create training data for this task by first doing backtranslation at a very large scale, and then using a parser to label the syntactic transformations that naturally occur during this process. Such data allows us to train a neural encoder-decoder model with extra inputs to specify the target syntax. A combination of automated and human evaluations show that SCPNs generate paraphrases that follow their target specifications without decreasing paraphrase quality when compared to baseline (uncontrolled) paraphrase systems. Furthermore, they are more capable of generating syntactically adversarial examples that both (1) fool pretrained models and (2) improve the robustness of these models to syntactic variation when used to augment their training data.

Hardware Circuits Design and Performance Evaluation of a Soft Lower Limb Exoskeleton Soft lower limb exoskeletons (LLEs) are wearable devices that have good potential in walking rehabilitation and augmentation. While a few studies focused on the structure design and assistance force optimization of the soft LLEs, rarely work has been conducted on the hardware circuits design. The main purpose of this work is to present a new soft LLE for walking efficiency improvement and introduce its hardware circuits design. A soft LLE for hip flexion assistance and a hardware circuits system with scalability were proposed. To assess the efficacy of the soft LLE, the experimental tests that evaluate the sensor data acquisition, force tracking performance, lower limb muscle activity and metabolic cost were conducted. The time error in the peak assistance force was just 1%. The reduction in the normalized root-mean-square EMG of the rectus femoris was 7.1%. The net metabolic cost in exoskeleton on condition was reduced by 7.8% relative to walking with no exoskeleton. The results show that the designed hardware circuits can be applied to the soft LLE and the soft LLE is able to improve walking efficiency of wearers.

Fault-Tolerant Consensus Tracking Control for Linear Multiagent Systems Under Switching Directed Network. In this paper, for linear leader–follower networks with multiple heterogeneous actuator faults, including partial loss of effectiveness fault and actuator bias fault, a cooperative fault-tolerant control (CFTC) approach is developed. Assume that the interaction network topology among all nodes is a switching directed graph. To address the difficulty of designing the distributed compensation control laws under the time-varying asymmetrical network structure, a novel distributed-reference-observer-based fault-tolerant tracking control approach is established, under which the global tracking errors are proved to be asymptotically convergent in the presence of actuator failures. First, by constructing a group of distributed reference observers based on neighborhood state information, all followers can estimate the leader’s state trajectories directly. Second, a decentralized adaptive fault-tolerant tracking controller via local estimation is designed to achieve the global synchronization. Furthermore, the reliable coordination problem under switching directed topology with intermittent communications is solved by utilizing the presented CFTC approach. Finally, the effectiveness of the proposed coordination control protocol is illustrated by its applications to a networked aircraft system.

On NCP-Functions In this paper we reformulate several NCP-functionsfor the nonlinear complementarityproblem (NCP) from their merit function forms and studysome important properties of these NCP-functions. We point out thatsome of these NCP-functions have all the nice properties investigated by Chen, Chen and Kanzow [2] fora modified Fischer-Burmeister function, while some other NCP-functionsmay lose one or several of these properties. We alsoprovide a modified normal map and a smoothing technique toovercome the limitation of these NCP-functions. A numerical comparisonfor the behaviour of various NCP-functions is provided.

Two k-winners-take-all networks with discontinuous activation functions. This paper presents two k-winners-take-all (k-WTA) networks with discontinuous activation functions. The k-WTA operation is first converted equivalently into linear and quadratic programming problems. Then two k-winners-take-all networks are designed based on the linear and quadratic programming formulations. The networks are theoretically guaranteed to be capable of performing the k-WTA operation in real time. Simulation results show the effectiveness and performance of the networks.

Distributed Task Allocation of Multiple Robots: A Control Perspective. The problem of dynamic task allocation in a distributed network of redundant robot manipulators for pathtracking with limited communications is investigated in this paper, where k fittest ones in a group of n redundant robot manipulators with n k are allocated to execute an object tracking task. The problem is essentially challenging in view of the interplay of manipulator kinematics and the dynam...

Coarse-to-Fine UAV Target Tracking With Deep Reinforcement Learning The aspect ratio of a target changes frequently during an unmanned aerial vehicle (UAV) tracking task, which makes the aerial tracking very challenging. Traditional trackers struggle from such a problem as they mainly focus on the scale variation issue by maintaining a certain aspect ratio. In this paper, we propose a coarse-to-fine deep scheme to address the aspect ratio variation in UAV tracking. The coarse-tracker first produces an initial estimate for the target object, then a sequence of actions are learned to fine-tune the four boundaries of the bounding box. The coarse-tracker and the fine-tracker are designed to have different action spaces and operating target. The former dominates the entire bounding box and the latter focuses on the refinement of each boundary. They are trained jointly by sharing the perception network with an end-to-end reinforcement learning architecture. Experimental results on benchmark aerial data set prove that the proposed approach outperforms existing trackers and produces significant accuracy gains in dealing with the aspect ratio variation in UAV tracking. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</italic> —During the past years, unmanned aerial vehicle (UAV) have gained much attention for both industrial and consumer uses. It is in urgent demand to endow the UAV with intelligent vision-based techniques, and the automatic target following via visual tracking methods as one of the most fundamental intelligent features could promote various applications of UAVs, such as surveillance, augmented reality, and behavior modeling. Nonetheless, the primary issue of a UAV-based tracking method is the platform itself: it is not stable, it tends to have sudden movements, it generates nonhomogeneous data (scale, angle, rotation, depth, and so on), all of them tend to change the aspect ratio of the target frequently and further increase the difficulty of object tracking. This paper aims to address the aspect ratio change (ARC) problem in UAV tracking. We present a coarse-to-fine strategy for UAV tracking. Specifically, the coarse bounding box is obtained to locate the target firstly. Then, a refinement scheme is performed on each boundary to further improve the position estimate. The tracker is proved to be effective to increase the resistance to the ARC. Such a method can be implemented on UAV to improve the target-following performance.

Design and Experimental Validation of a Distributed Cooperative Transportation Scheme Leveraging explicit communication and cooperation of multiple robots brings about multiple advantages in the solution of tasks with autonomous robotic agents. For this reason, to the end of transporting polygonal objects with a group of mobile robots, the aim of this article is to develop a fully distributed decision-making and control scheme that lets the robots cooperate as equals, without any k...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Sequence to Sequence Learning with Neural Networks. Deep Neural Networks (DNNs) are powerful models that have achieved excellent performance on difficult learning tasks. Although DNNs work well whenever large labeled training sets are available, they cannot be used to map sequences to sequences. In this paper, we present a general end-to-end approach to sequence learning that makes minimal assumptions on the sequence structure. Our method uses a multilayered Long Short-Term Memory (LSTM) to map the input sequence to a vector of a fixed dimensionality, and then another deep LSTM to decode the target sequence from the vector. Our main result is that on an English to French translation task from the WMT-14 dataset, the translations produced by the LSTM achieve a BLEU score of 34.8 on the entire test set, where the LSTM's BLEU score was penalized on out-of-vocabulary words. Additionally, the LSTM did not have difficulty on long sentences. For comparison, a phrase-based SMT system achieves a BLEU score of 33.3 on the same dataset. When we used the LSTM to rerank the 1000 hypotheses produced by the aforementioned SMT system, its BLEU score increases to 36.5, which is close to the previous state of the art. The LSTM also learned sensible phrase and sentence representations that are sensitive to word order and are relatively invariant to the active and the passive voice. Finally, we found that reversing the order of the words in all source sentences (but not target sentences) improved the LSTM's performance markedly, because doing so introduced many short term dependencies between the source and the target sentence which made the optimization problem easier.

Chimp optimization algorithm. •A novel optimizer called Chimp Optimization Algorithm (ChOA) is proposed.•ChOA is inspired by individual intelligence and sexual motivation of chimps.•ChOA alleviates the problems of slow convergence rate and trapping in local optima.•The four main steps of Chimp hunting are implemented.

Space-time modeling of traffic flow. This paper discusses the application of space-time autoregressive integrated moving average (STARIMA) methodology for representing traffic flow patterns. Traffic flow data are in the form of spatial time series and are collected at specific locations at constant intervals of time. Important spatial characteristics of the space-time process are incorporated in the STARIMA model through the use of weighting matrices estimated on the basis of the distances among the various locations where data are collected. These matrices distinguish the space-time approach from the vector autoregressive moving average (VARMA) methodology and enable the model builders to control the number of the parameters that have to be estimated. The proposed models can be used for short-term forecasting of space-time stationary traffic-flow processes and for assessing the impact of traffic-flow changes on other parts of the network. The three-stage iterative space-time model building procedure is illustrated using 7.5min average traffic flow data for a set of 25 loop-detectors located at roads that direct to the centre of the city of Athens, Greece. Data for two months with different traffic-flow characteristics are modelled in order to determine the stability of the parameter estimation.

State resetting for bumpless switching in supervisory control In this paper the realization and implementation of a multi-controller scheme made of a finite set of linear single-input-single-output controllers, possibly having different state dimensions, is studied. The supervisory control framework is considered, namely a minimal parameter dependent realization of the set of controllers such that all controllers share the same state space is used. A specific state resetting strategy based on the behavioral approach to system theory is developed in order to master the transient upon controller switching.

An Automatic Screening Approach for Obstructive Sleep Apnea Diagnosis Based on Single-Lead Electrocardiogram Traditional approaches for obstructive sleep apnea (OSA) diagnosis are apt to using multiple channels of physiological signals to detect apnea events by dividing the signals into equal-length segments, which may lead to incorrect apnea event detection and weaken the performance of OSA diagnosis. This paper proposes an automatic-segmentation-based screening approach with the single channel of Electrocardiogram (ECG) signal for OSA subject diagnosis, and the main work of the proposed approach lies in three aspects: (i) an automatic signal segmentation algorithm is adopted for signal segmentation instead of the equal-length segmentation rule; (ii) a local median filter is improved for reduction of the unexpected RR intervals before signal segmentation; (iii) the designed OSA severity index and additional admission information of OSA suspects are plugged into support vector machine (SVM) for OSA subject diagnosis. A real clinical example from PhysioNet database is provided to validate the proposed approach and an average accuracy of 97.41% for subject diagnosis is obtained which demonstrates the effectiveness for OSA diagnosis.

Adaptive fuzzy tracking control for switched uncertain strict-feedback nonlinear systems. •Adaptive tracking control for switched strict-feedback nonlinear systems is proposed.•The generalized fuzzy hyperbolic model is used to approximate nonlinear functions.•The designed controller has fewer design parameters comparing with existing methods.

Energy harvesting algorithm considering max flow problem in wireless sensor networks. In Wireless Sensor Networks (WSNs), sensor nodes with poor energy always have bad effect on the data rate or max flow. These nodes are called bottleneck nodes. In this paper, in order to increase the max flow, we assume an energy harvesting WSNs environment to investigate the cooperation of multiple Mobile Chargers (MCs). MCs are mobile robots that use wireless charging technology to charge sensor nodes in WSNs. This means that in energy harvesting WSNs environments, sensor nodes can obtain energy replenishment by using MCs or collecting energy from nature by themselves. In our research, we use MCs to improve the energy of the sensor nodes by performing multiple rounds of unified scheduling, and finally achieve the purpose of increasing the max flow at sinks. Firstly, we model this problem as a Linear Programming (LP) to search the max flow in a round of charging scheduling and prove that the problem is NP-hard. In order to solve the problem, we propose a heuristic approach: deploying MCs in units of paths with the lowest energy node priority. To reduce the energy consumption of MCs and increase the charging efficiency, we also take the optimization of MCs’ moving distance into our consideration. Finally, we extend the method to multiple rounds of scheduling called BottleNeck. Simulation results show that Bottleneck performs well at increasing max flow.

Chinese Remainder Theorem-Based Sequence Design for Resource Block Assignment in Relay-Assisted Internet-of-Things Communications. Terminal relays are expected to play a key role in facilitating the communication between base stations and low-cost power-constrained cellular Internet of Things (IoT) devices. However, these mobile relays require a mechanism by which they can autonomously assign the available resource blocks (RBs) to their assisted IoT devices in the absence of channel state information (CSI) and with minimal as...

IoT-U: Cellular Internet-of-Things Networks Over Unlicensed Spectrum. In this paper, we consider an uplink cellular Internet-of-Things (IoT) network, where a cellular user (CU) can serve as the mobile data aggregator for a cluster of IoT devices. To be specific, the IoT devices can either transmit the sensory data to the base station (BS) directly by cellular communications, or first aggregate the data to a CU through machine-to-machine (M2M) communications before t...

Cognitive Capacity Harvesting Networks: Architectural Evolution Toward Future Cognitive Radio Networks. Cognitive radio technologies enable users to opportunistically access unused licensed spectrum and are viewed as a promising way to deal with the current spectrum crisis. Over the last 15 years, cognitive radio technologies have been extensively studied from algorithmic design to practical implementation. One pressing and fundamental problem is how to integrate cognitive radios into current wirele...

Smart Cities on Wheels: A Newly Emerging Vehicular Cognitive Capability Harvesting Network for Data Transportation. With the emergence of IoT and smart cities, wireless data traffic is exponentially increasing, motivating telecom operators to search for new solutions. In this article, we propose a solution based on the premise that vehicles are equipped with CR routers, specially designed powerful devices with agile communication interfaces, rich computing resources, and abundant storage space. To fully exploit...

Market-Based Model in CR-IoT: A Q-Probabilistic Multi-Agent Reinforcement Learning Approach The ever-increasing urban population and the corresponding material demands have brought unprecedented burdens to cities. To guarantee better QoS for citizens, smart cities leverage emerging technologies such as the Cognitive Radio Internet of Things (CR-IoT). However, resource allocation is a great challenge for CR-IoT, mainly because of the extremely numerous devices and users. Generally, the auction theory and game theory are applied to overcome the challenge. In this paper, we propose a multi-agent reinforcement learning (MARL) algorithm to learn the optimal resource allocation strategy in the oligopoly market model. Firstly, we model a multi-agent scenario with the primary users (PUs) as sellers and secondary users (SUs) as buyers. Then, we propose the Q-probabilistic multi-agent learning (QPML) and apply it to allocate resources in the market. In the multi-agent learning process, the PUs and SUs learn strategies to maximize their benefits and improve spectrum utilization. The performance of QPML is compared with Learning Automation (LA) through simulations. The experimental results show that our approach outperforms other approaches and performs well.

Energy Minimization of Multi-cell Cognitive Capacity Harvesting Networks with Neighbor Resource Sharing In this paper, we investigate the energy minimization problem for a cognitive capacity harvesting network (CCHN), where secondary users (SUs) without cognitive radio (CR) capability communicate with CR routers via device-to-device (D2D) transmissions, and CR routers connect with base stations (BSs) via CR links. Different from traditional D2D networks that D2D transmissions share the resource of c...

Wireless sensor networks: a survey This paper describes the concept of sensor networks which has been made viable by the convergence of micro-electro-mechanical systems technology, wireless communications and digital electronics. First, the sensing tasks and the potential sensor networks applications are explored, and a review of factors influencing the design of sensor networks is provided. Then, the communication architecture for sensor networks is outlined, and the algorithms and protocols developed for each layer in the literature are explored. Open research issues for the realization of sensor networks are also discussed.

ImageNet Classification with Deep Convolutional Neural Networks. We trained a large, deep convolutional neural network to classify the 1.2 million high-resolution images in the ImageNet LSVRC-2010 contest into the 1000 different classes. On the test data, we achieved top-1 and top-5 error rates of 37.5% and 17.0%, respectively, which is considerably better than the previous state-of-the-art. The neural network, which has 60 million parameters and 650,000 neurons, consists of five convolutional layers, some of which are followed by max-pooling layers, and three fully connected layers with a final 1000-way softmax. To make training faster, we used non-saturating neurons and a very efficient GPU implementation of the convolution operation. To reduce overfitting in the fully connected layers we employed a recently developed regularization method called \"dropout\" that proved to be very effective. We also entered a variant of this model in the ILSVRC-2012 competition and achieved a winning top-5 test error rate of 15.3%, compared to 26.2% achieved by the second-best entry.

The Whale Optimization Algorithm. The Whale Optimization Algorithm inspired by humpback whales is proposed.The WOA algorithm is benchmarked on 29 well-known test functions.The results on the unimodal functions show the superior exploitation of WOA.The exploration ability of WOA is confirmed by the results on multimodal functions.The results on structural design problems confirm the performance of WOA in practice. This paper proposes a novel nature-inspired meta-heuristic optimization algorithm, called Whale Optimization Algorithm (WOA), which mimics the social behavior of humpback whales. The algorithm is inspired by the bubble-net hunting strategy. WOA is tested with 29 mathematical optimization problems and 6 structural design problems. Optimization results prove that the WOA algorithm is very competitive compared to the state-of-art meta-heuristic algorithms as well as conventional methods. The source codes of the WOA algorithm are publicly available at http://www.alimirjalili.com/WOA.html

Collaborative privacy management The landscape of the World Wide Web with all its versatile services heavily relies on the disclosure of private user information. Unfortunately, the growing amount of personal data collected by service providers poses a significant privacy threat for Internet users. Targeting growing privacy concerns of users, privacy-enhancing technologies emerged. One goal of these technologies is the provision of tools that facilitate a more informative decision about personal data disclosures. A famous PET representative is the PRIME project that aims for a holistic privacy-enhancing identity management system. However, approaches like the PRIME privacy architecture require service providers to change their server infrastructure and add specific privacy-enhancing components. In the near future, service providers are not expected to alter internal processes. Addressing the dependency on service providers, this paper introduces a user-centric privacy architecture that enables the provider-independent protection of personal data. A central component of the proposed privacy infrastructure is an online privacy community, which facilitates the open exchange of privacy-related information about service providers. We characterize the benefits and the potentials of our proposed solution and evaluate a prototypical implementation.

Data-Driven Intelligent Transportation Systems: A Survey For the last two decades, intelligent transportation systems (ITS) have emerged as an efficient way of improving the performance of transportation systems, enhancing travel security, and providing more choices to travelers. A significant change in ITS in recent years is that much more data are collected from a variety of sources and can be processed into various forms for different stakeholders. The availability of a large amount of data can potentially lead to a revolution in ITS development, changing an ITS from a conventional technology-driven system into a more powerful multifunctional data-driven intelligent transportation system (D2ITS) : a system that is vision, multisource, and learning algorithm driven to optimize its performance. Furthermore, D2ITS is trending to become a privacy-aware people-centric more intelligent system. In this paper, we provide a survey on the development of D2ITS, discussing the functionality of its key components and some deployment issues associated with D2ITS Future research directions for the development of D2ITS is also presented.

Online Prediction of Driver Distraction Based on Brain Activity Patterns This paper presents a new computational framework for early detection of driver distractions (map viewing) using brain activity measured by electroencephalographic (EEG) signals. Compared with most studies in the literature, which are mainly focused on the classification of distracted and nondistracted periods, this study proposes a new framework to prospectively predict the start and end of a distraction period, defined by map viewing. The proposed prediction algorithm was tested on a data set of continuous EEG signals recorded from 24 subjects. During the EEG recordings, the subjects were asked to drive from an initial position to a destination using a city map in a simulated driving environment. The overall accuracy values for the prediction of the start and the end of map viewing were 81% and 70%, respectively. The experimental results demonstrated that the proposed algorithm can predict the start and end of map viewing with relatively high accuracy and can be generalized to individual subjects. The outcome of this study has a high potential to improve the design of future intelligent navigation systems. Prediction of the start of map viewing can be used to provide route information based on a driver's needs and consequently avoid map-viewing activities. Prediction of the end of map viewing can be used to provide warnings for potential long map-viewing durations. Further development of the proposed framework and its applications in driver-distraction predictions are also discussed.

Adaptive Fuzzy Control With Prescribed Performance for Block-Triangular-Structured Nonlinear Systems. In this paper, an adaptive fuzzy control method with prescribed performance is proposed for multi-input and multioutput block-triangular-structured nonlinear systems with immeasurable states. Fuzzy logic systems are adopted to identify the unknown nonlinear system functions. Adaptive fuzzy state observers are designed to solve the problem of unmeasured states, and a new observer-based output-feedb...

Learning Feature Recovery Transformer for Occluded Person Re-Identification One major issue that challenges person re-identification (Re-ID) is the ubiquitous occlusion over the captured persons. There are two main challenges for the occluded person Re-ID problem, i.e., the interference of noise during feature matching and the loss of pedestrian information brought by the occlusions. In this paper, we propose a new approach called Feature Recovery Transformer (FRT) to address the two challenges simultaneously, which mainly consists of visibility graph matching and feature recovery transformer. To reduce the interference of the noise during feature matching, we mainly focus on visible regions that appear in both images and develop a visibility graph to calculate the similarity. In terms of the second challenge, based on the developed graph similarity, for each query image, we propose a recovery transformer that exploits the feature sets of its k-nearest neighbors in the gallery to recover the complete features. Extensive experiments across different person Re-ID datasets, including occluded, partial and holistic datasets, demonstrate the effectiveness of FRT. Specifically, FRT significantly outperforms state-of-the-art results by at least 6.2% Rank- 1 accuracy and 7.2% mAP scores on the challenging Occluded-Duke dataset.

Constrained Convolutional Neural Networks: A New Approach Towards General Purpose Image Manipulation Detection. Identifying the authenticity and processing history of an image is an important task in multimedia forensics. By analyzing traces left by different image manipulations, researchers have been able to develop several algorithms capable of detecting targeted editing operations. While this approach has led to the development of several successful forensic algorithms, an important problem remains: crea...

Movie2Comics: Towards a Lively Video Content Presentation a type of artwork, comics is prevalent and popular around the world. However, despite the availability of assistive software and tools, the creation of comics is still a labor-intensive and time-consuming process. This paper proposes a scheme that is able to automatically turn a movie clip to comics. Two principles are followed in the scheme: 1) optimizing the information preservation of the movie; and 2) generating outputs following the rules and the styles of comics. The scheme mainly contains three components: script-face mapping, descriptive picture extraction, and cartoonization. The script-face mapping utilizes face tracking and recognition techniques to accomplish the mapping between characters' faces and their scripts. The descriptive picture extraction then generates a sequence of frames for presentation. Finally, the cartoonization is accomplished via three steps: panel scaling, stylization, and comics layout design. Experiments are conducted on a set of movie clips and the results have demonstrated the usefulness and the effectiveness of the scheme.

View-Based Discriminative Probabilistic Modeling for 3D Object Retrieval and Recognition In view-based 3D object retrieval and recognition, each object is described by multiple views. A central problem is how to estimate the distance between two objects. Most conventional methods integrate the distances of view pairs across two objects as an estimation of their distance. In this paper, we propose a discriminative probabilistic object modeling approach. It builds probabilistic models for each object based on the distribution of its views, and the distance between two objects is defined as the upper bound of the Kullback–Leibler divergence of the corresponding probabilistic models. 3D object retrieval and recognition is accomplished based on the distance measures. We first learn models for each object by the adaptation from a set of global models with a maximum likelihood principle. A further adaption step is then performed to enhance the discriminative ability of the models. We conduct experiments on the ETH 3D object dataset, the National Taiwan University 3D model dataset, and the Princeton Shape Benchmark. We compare our approach with different methods, and experimental results demonstrate the superiority of our approach.

DADNet: Dilated-Attention-Deformable ConvNet for Crowd Counting Most existing CNN-based methods for crowd counting always suffer from large scale variation in objects of interest, leading to density maps of low quality. In this paper, we propose a novel deep model called Dilated-Attention-Deformable ConvNet (DADNet), which consists of two schemes: multi-scale dilated attention and deformable convolutional DME (Density Map Estimation). The proposed model explores a scale-aware attention fusion with various dilation rates to capture different visual granularities of crowd regions of interest, and utilizes deformable convolutions to generate a high-quality density map. There are two merits as follows: (1) varying dilation rates can effectively identify discriminative regions by enlarging the receptive fields of convolutional kernels upon surrounding region cues, and (2) deformable CNN operations promote the accuracy of object localization in the density map by augmenting the spatial object location sampling with adaptive offsets and scalars. DADNet not only excels at capturing rich spatial context of salient and tiny regions of interest simultaneously, but also keeps a robustness to background noises, such as partially occluded objects. Extensive experiments on benchmark datasets verify that DADNet achieves the state-of-the-art performance. Visualization results of the multi-scale attention maps further validate the remarkable interpretability achieved by our solution.

Context-Aware Graph Inference With Knowledge Distillation for Visual Dialog Visual dialog is a challenging task that requires the comprehension of the semantic dependencies among implicit visual and textual contexts. This task can refer to the relational inference in a graphical model with sparse contextual subjects (nodes) and unknown graph structure (relation descriptor); how to model the underlying context-aware relational inference is critical. To this end, we propose a novel context-aware graph (CAG) neural network. We focus on the exploitation of fine-grained relational reasoning with object-level dialog-historical co-reference nodes. The graph structure (relation in dialog) is iteratively updated using an adaptive top- <inline-formula><tex-math notation="LaTeX">$K$</tex-math></inline-formula> message passing mechanism. To eliminate sparse useless relations, each node has dynamic relations in the graph (different related <inline-formula><tex-math notation="LaTeX">$K$</tex-math></inline-formula> neighbor nodes), and only the most relevant nodes are attributive to the context-aware relational graph inference. In addition, to avoid negative performance caused by linguistic bias of history, we propose a pure visual-aware knowledge distillation mechanism named CAG-Distill, in which image-only visual clues are used to regularize the joint dialog-historical contextual awareness at the object-level. Experimental results on VisDial v0.9 and v1.0 datasets show that both CAG and CAG-Distill outperform comparative methods. Visualization results further validate the remarkable interpretability of our graph inference solution.

Localization of JPEG double compression through multi-domain convolutional neural networks. When an attacker wants to falsify an image, in most of cases she/he will perform a JPEG recompression. Different techniques have been developed based on diverse theoretical assumptions but very effective solutions have not been developed yet. Recently, machine learning based approaches have been started to appear in the field of image forensics to solve diverse tasks such as acquisition source identification and forgery detection. In this last case, the aim ahead would be to get a trained neural network able, given a to-be-checked image, to reliably localize the forged areas. With this in mind, our paper proposes a step forward in this direction by analyzing how a single or double JPEG compression can be revealed and localized using convolutional neural networks (CNNs). Different kinds of input to the CNN have been taken into consideration, and various experiments have been carried out trying also to evidence potential issues to be further investigated.

Detecting Double JPEG Compressed Color Images With the Same Quantization Matrix in Spherical Coordinates Detection of double Joint Photographic Experts Group (JPEG) compression is an important part of image forensics. Although methods in the past studies have been presented for detecting the double JPEG compression with a different quantization matrix, the detection of double JPEG compression with the same quantization matrix is still a challenging problem. In this paper, an effective method to detect the recompression in the color images by using the conversion error, rounding error, and truncation error on the pixel in the spherical coordinate system is proposed. The randomness of truncation errors, rounding errors, and quantization errors result in random conversion errors. The pixel number of the conversion error is used to extract six-dimensional features. Truncation error and rounding error on the pixel in its three channels are mapped to the spherical coordinate system based on the relation of a color image to the pixel values in the three channels. The former is converted into amplitude and angles to extract 30-dimensional features and 8-dimensional auxiliary features are extracted from the number of special points and special blocks. As a result, a total of 44-dimensional features have been used in the classification by using the support vector machine (SVM) method. Thereafter, the support vector machine recursive feature elimination (SVMRFE) method is used to improve the classification accuracy. The experimental results show that the performance of the proposed method is better than the existing methods.

Digital image splicing detection based on Markov features in DCT and DWT domain Image splicing is very common and fundamental in image tampering. To recover people's trust in digital images, the detection of image splicing is in great need. In this paper, a Markov based approach is proposed to detect this specific artifact. Firstly, the original Markov features generated from the transition probability matrices in DCT domain by Shi et al. is expanded to capture not only the intra-block but also the inter-block correlation between block DCT coefficients. Then, more features are constructed in DWT domain to characterize the three kinds of dependency among wavelet coefficients across positions, scales and orientations. After that, feature selection method SVM-RFE is used to fulfill the task of feature reduction, making the computational cost more manageable. Finally, support vector machine (SVM) is exploited to classify the authentic and spliced images using the final dimensionality-reduced feature vector. The experiment results demonstrate that the proposed approach can outperform some state-of-the-art methods.

A tutorial on support vector regression In this tutorial we give an overview of the basic ideas underlying Support Vector (SV) machines for function estimation. Furthermore, we include a summary of currently used algorithms for training SV machines, covering both the quadratic (or convex) programming part and advanced methods for dealing with large datasets. Finally, we mention some modifications and extensions that have been applied to the standard SV algorithm, and discuss the aspect of regularization from a SV perspective.

Provable data possession at untrusted stores We introduce a model for provable data possession (PDP) that allows a client that has stored data at an untrusted server to verify that the server possesses the original data without retrieving it. The model generates probabilistic proofs of possession by sampling random sets of blocks from the server, which drastically reduces I/O costs. The client maintains a constant amount of metadata to verify the proof. The challenge/response protocol transmits a small, constant amount of data, which minimizes network communication. Thus, the PDP model for remote data checking supports large data sets in widely-distributed storage system. We present two provably-secure PDP schemes that are more efficient than previous solutions, even when compared with schemes that achieve weaker guarantees. In particular, the overhead at the server is low (or even constant), as opposed to linear in the size of the data. Experiments using our implementation verify the practicality of PDP and reveal that the performance of PDP is bounded by disk I/O and not by cryptographic computation.

Exoskeletons for human power augmentation The first load-bearing and energetically autonomous exoskeleton, called the Berkeley Lower Extremity Exoskeleton (BLEEX) walks at the average speed of two miles per hour while carrying 75 pounds of load. The project, funded in 2000 by the Defense Advanced Research Project Agency (DARPA) tackled four fundamental technologies: the exoskeleton architectural design, a control algorithm, a body LAN to host the control algorithm, and an on-board power unit to power the actuators, sensors and the computers. This article gives an overview of the BLEEX project.

Software-Defined Networking: A Comprehensive Survey The Internet has led to the creation of a digital society, where (almost) everything is connected and is accessible from anywhere. However, despite their widespread adoption, traditional IP networks are complex and very hard to manage. It is both difficult to configure the network according to predefined policies, and to reconfigure it to respond to faults, load, and changes. To make matters even more difficult, current networks are also vertically integrated: the control and data planes are bundled together. Software-defined networking (SDN) is an emerging paradigm that promises to change this state of affairs, by breaking vertical integration, separating the network's control logic from the underlying routers and switches, promoting (logical) centralization of network control, and introducing the ability to program the network. The separation of concerns, introduced between the definition of network policies, their implementation in switching hardware, and the forwarding of traffic, is key to the desired flexibility: by breaking the network control problem into tractable pieces, SDN makes it easier to create and introduce new abstractions in networking, simplifying network management and facilitating network evolution. In this paper, we present a comprehensive survey on SDN. We start by introducing the motivation for SDN, explain its main concepts and how it differs from traditional networking, its roots, and the standardization activities regarding this novel paradigm. Next, we present the key building blocks of an SDN infrastructure using a bottom-up, layered approach. We provide an in-depth analysis of the hardware infrastructure, southbound and northbound application programming interfaces (APIs), network virtualization layers, network operating systems (SDN controllers), network programming languages, and network applications. We also look at cross-layer problems such as debugging and troubleshooting. In an effort to anticipate the future evolution of this - ew paradigm, we discuss the main ongoing research efforts and challenges of SDN. In particular, we address the design of switches and control platforms - with a focus on aspects such as resiliency, scalability, performance, security, and dependability - as well as new opportunities for carrier transport networks and cloud providers. Last but not least, we analyze the position of SDN as a key enabler of a software-defined environment.

The ApolloScape Dataset for Autonomous Driving Scene parsing aims to assign a class (semantic) label for each pixel in an image. It is a comprehensive analysis of an image. Given the rise of autonomous driving, pixel-accurate environmental perception is expected to be a key enabling technical piece. However, providing a large scale dataset for the design and evaluation of scene parsing algorithms, in particular for outdoor scenes, has been difficult. The per-pixel labelling process is prohibitively expensive, limiting the scale of existing ones. In this paper, we present a large-scale open dataset, ApolloScape, that consists of RGB videos and corresponding dense 3D point clouds. Comparing with existing datasets, our dataset has the following unique properties. The first is its scale, our initial release contains over 140K images - each with its per-pixel semantic mask, up to 1M is scheduled. The second is its complexity. Captured in various traffic conditions, the number of moving objects averages from tens to over one hundred (Figure 1). And the third is the 3D attribute, each image is tagged with high-accuracy pose information at cm accuracy and the static background point cloud has mm relative accuracy. We are able to label these many images by an interactive and efficient labelling pipeline that utilizes the high-quality 3D point cloud. Moreover, our dataset also contains different lane markings based on the lane colors and styles. We expect our new dataset can deeply benefit various autonomous driving related applications that include but not limited to 2D/3D scene understanding, localization, transfer learning, and driving simulation.

Social Robots for (Second) Language Learning in (Migrant) Primary School Children Especially these days, innovation and support from technology to relieve pressure in education is highly urgent. This study tested the potential advantage of a social robot over a tablet in (second) language learning on performance, engagement, and enjoyment. Shortages in primary education call for new technology solutions. Previous studies combined robots with tablets, to compensate for robot’s limitations, however, this study applied direct human–robot interaction. Primary school children (N = 63, aged 4–6) participated in a 3-wave field experiment with story-telling exercises, either with a semi-autonomous robot (without tablet, using WOz) or a tablet. Results showed increased learning gains over time when training with a social robot, compared to the tablet. Children who trained with a robot were more engaged in the story-telling task and enjoyed it more. Robot’s behavioral style (social or neutral) hardly differed overall, however, seems to vary for high versus low educational abilities. While social robots need sophistication before being implemented in schools, our study shows the potential of social robots as tutors in (second) language learning.

Learning A Discriminative Null Space For Person Re-Identification Most existing person re-identification (re-id) methods focus on learning the optimal distance metrics across camera views. Typically a person's appearance is represented using features of thousands of dimensions, whilst only hundreds of training samples are available due to the difficulties in collecting matched training images. With the number of training samples much smaller than the feature dimension, the existing methods thus face the classic small sample size (SSS) problem and have to resort to dimensionality reduction techniques and/or matrix regularisation, which lead to loss of discriminative power. In this work, we propose to overcome the SSS problem in re-id distance metric learning by matching people in a discriminative null space of the training data. In this null space, images of the same person are collapsed into a single point thus minimising the within-class scatter to the extreme and maximising the relative between-class separation simultaneously. Importantly, it has a fixed dimension, a closed-form solution and is very efficient to compute. Extensive experiments carried out on five person re-identification benchmarks including VIPeR, PRID2011, CUHK01, CUHK03 and Market1501 show that such a simple approach beats the state-of-the-art alternatives, often by a big margin.

Differentiable Learning-to-Normalize via Switchable Normalization. We address a learning-to-normalize problem by proposing Switchable Normalization (SN), which learns to select different operations for different normalization layers of a deep neural network (DNN). SN switches among three distinct scopes to compute statistics (means and variances) including a channel, a layer, and a minibatch, by learning their importance weights in an end-to-end manner. SN has several good properties. First, it adapts to various network architectures and tasks (see Fig.1). Second, it is robust to a wide range of batch sizes, maintaining high performance when small minibatch is presented (e.g. 2 images/GPU). Third, SN treats all channels as a group, unlike group normalization that searches the number of groups as a hyper-parameter. Without bells and whistles, SN outperforms its counterparts on various challenging problems, such as image classification in ImageNet, object detection and segmentation in COCO, artistic image stylization, and neural architecture search. We hope SN will help ease the usages and understand the effects of normalization techniques in deep learning. The code of SN will be made available in this https URL.

End-to-End Deep Learning for Person Search. Existing person re-identification (re-id) benchmarks and algorithms mainly focus on matching cropped pedestrian images between queries and candidates. However, it is different from real-world scenarios where the annotations of pedestrian bounding boxes are unavailable and the target person needs to be found from whole images. To close the gap, we investigate how to localize and match query persons from the scene images without relying on the annotations of candidate boxes. Instead of breaking it down into two separate tasks—pedestrian detection and person re-id, we propose an end-to-end deep learning framework to jointly handle both tasks. A random sampling softmax loss is proposed to effectively train the model under the supervision of sparse and unbalanced labels. On the other hand, existing benchmarks are small in scale and the samples are collected from a few fixed camera views with low scene diversities. To address this issue, we collect a largescale and scene-diversified person search dataset, which contains 18,184 images, 8,432 persons, and 99,809 annotated bounding boxes1. We evaluate our approach and other baselines on the proposed dataset, and study the influence of various factors. Experiments show that our method achieves the best result.

A Novel Unsupervised Camera-aware Domain Adaptation Framework for Person Re-identification. Unsupervised cross-domain person re-identification (Re-ID) faces two key issues. One is the data distribution discrepancy between source and target domains, and the other is the lack of labelling information in target domain. They are addressed in this paper from the perspective of representation learning. For the first issue, we highlight the presence of camera-level sub-domains as a unique characteristic of person Re-ID, and develop camera-aware domain adaptation to reduce the discrepancy not only between source and target domains but also across these sub-domains. For the second issue, we exploit the temporal continuity in each camera of target domain to create discriminative information. This is implemented by dynamically generating online triplets within each batch, in order to maximally take advantage of the steadily improved feature representation in training process. Together, the above two methods give rise to a novel unsupervised deep domain adaptation framework for person Re-ID. Experiments and ablation studies on benchmark datasets demonstrate its superiority and interesting properties.

FD-GAN: Pose-guided Feature Distilling GAN for Robust Person Re-identification. Person re-identification (reID) is an important task that requires to retrieve a person's images from an image dataset, given one image of the person of interest. For learning robust person features, the pose variation of person images is one of the key challenges. Existing works targeting the problem either perform human alignment, or learn human-region-based representations. Extra pose information and computational cost is generally required for inference. To solve this issue, a Feature Distilling Generative Adversarial Network (FD-GAN) is proposed for learning identity-related and pose-unrelated representations. It is a novel framework based on a Siamese structure with multiple novel discriminators on human poses and identities. In addition to the discriminators, a novel same-pose loss is also integrated, which requires appearance of a same person's generated images to be similar. After learning pose-unrelated person features with pose guidance, no auxiliary pose information and additional computational cost is required during testing. Our proposed FD-GAN achieves state-of-the-art performance on three person reID datasets, which demonstrates that the effectiveness and robust feature distilling capability of the proposed FD-GAN.(double dagger double dagger)

In Defense of the Triplet Loss for Person Re-Identification. In the past few years, the field of computer vision has gone through a revolution fueled mainly by the advent of large datasets and the adoption of deep convolutional neural networks for end-to-end learning. The person re-identification subfield is no exception to this. Unfortunately, a prevailing belief in the community seems to be that the triplet loss is inferior to using surrogate losses (classification, verification) followed by a separate metric learning step. We show that, for models trained from scratch as well as pretrained ones, using a variant of the triplet loss to perform end-to-end deep metric learning outperforms most other published methods by a large margin.

Undoing the damage of dataset bias The presence of bias in existing object recognition datasets is now well-known in the computer vision community. While it remains in question whether creating an unbiased dataset is possible given limited resources, in this work we propose a discriminative framework that directly exploits dataset bias during training. In particular, our model learns two sets of weights: (1) bias vectors associated with each individual dataset, and (2) visual world weights that are common to all datasets, which are learned by undoing the associated bias from each dataset. The visual world weights are expected to be our best possible approximation to the object model trained on an unbiased dataset, and thus tend to have good generalization ability. We demonstrate the effectiveness of our model by applying the learned weights to a novel, unseen dataset, and report superior results for both classification and detection tasks compared to a classical SVM that does not account for the presence of bias. Overall, we find that it is beneficial to explicitly account for bias when combining multiple datasets.

Large-scale evaluation of splicing localization algorithms for web images. With the proliferation of smartphones and social media, journalistic practices are increasingly dependent on information and images contributed by local bystanders through Internet-based applications and platforms. Verifying the images produced by these sources is integral to forming accurate news reports, given that there is very little or no control over the type of user-contributed content, and hence, images found on the Web are always likely to be the result of image tampering. In particular, image splicing, i.e. the process of taking an area from one image and placing it in another is a typical such tampering practice, often used with the goal of misinforming or manipulating Internet users. Currently, the localization of splicing traces in images found on the Web is a challenging task. In this work, we present the first, to our knowledge, exhaustive evaluation of today's state-of-the-art algorithms for splicing localization, that is, algorithms attempting to detect which pixels in an image have been tampered with as the result of such a forgery. As our aim is the application of splicing localization on images found on the Web and social media environments, we evaluate a large number of algorithms aimed at this problem on datasets that match this use case, while also evaluating algorithm robustness in the face of image degradation due to JPEG recompressions. We then extend our evaluations to a large dataset we formed by collecting real-world forgeries that have circulated the Web during the past years. We review the performance of the implemented algorithms and attempt to draw broader conclusions with respect to the robustness of splicing localization algorithms for application in Web environments, their current weaknesses, and the future of the field. Finally, we openly share the framework and the corresponding algorithm implementations to allow for further evaluations and experimentation.

Hiding Traces of Resampling in Digital Images Resampling detection has become a standard tool for forensic analyses of digital images. This paper presents new variants of image transformation operations which are undetectable by resampling detectors based on periodic variations in the residual signal of local linear predictors in the spatial domain. The effectiveness of the proposed method is supported with evidence from experiments on a large image database for various parameter settings. We benchmark detectability as well as the resulting image quality against conventional linear and bicubic interpolation and interpolation with a sinc kernel. These early findings on ldquocounter-forensicrdquo techniques put into question the reliability of known forensic tools against smart counterfeiters in general, and might serve as benchmarks and motivation for the development of much improved forensic techniques.

Mean Shift, Mode Seeking, and Clustering Mean shift, a simple iterative procedure that shifts each data point to the average of data points in its neighborhood, is generalized and analyzed in this paper. This generalization makes some k-means like clustering algorithms its special cases. It is shown that mean shift is a mode-seeking process on a surface constructed with a 驴shadow驴 kernel. For Gaussian kernels, mean shift is a gradient mapping. Convergence is studied for mean shift iterations. Cluster analysis is treated as a deterministic problem of finding a fixed point of mean shift that characterizes the data. Applications in clustering and Hough transform are demonstrated. Mean shift is also considered as an evolutionary strategy that performs multistart global optimization.

Combining Global and Local Surrogate Models to Accelerate Evolutionary Optimization In this paper, we present a novel surrogate-assisted evolutionary optimization framework for solving computationally expensive problems. The proposed framework uses computationally cheap hierarchical surrogate models constructed through online learning to replace the exact computationally expensive objective functions during evolutionary search. At the first level, the framework employs a data-parallel Gaussian process based global surrogate model to filter the evolutionary algorithm (EA) population of promising individuals. Subsequently, these potential individuals undergo a memetic search in the form of Lamarckian learning at the second level. The Lamarckian evolution involves a trust-region enabled gradient-based search strategy that employs radial basis function local surrogate models to accelerate convergence. Numerical results are presented on a series of benchmark test functions and on an aerodynamic shape design problem. The results obtained suggest that the proposed optimization framework converges to good designs on a limited computational budget. Furthermore, it is shown that the new algorithm gives significant savings in computational cost when compared to the traditional evolutionary algorithm and other surrogate assisted optimization frameworks

An Iterative Hierarchical Key Exchange Scheme for Secure Scheduling of Big Data Applications in Cloud Computing As the new-generation distributed computing platform, cloud computing environments offer high efficiency and low cost for data-intensive computation in big data applications. Cloud resources and services are available in pay-as-you-go mode, which brings extraordinary flexibility and cost-effectiveness as well as zero investment in their own computing infrastructure. However, these advantages come at a price-people no longer have direct control over their own data. Based on this view, data security becomes a major concern in the adoption of cloud computing. Authenticated Key Exchange (AKE) is essential to a security system that is based on high efficiency symmetric-key encryption. With virtualization technology being applied, existing key exchange schemes such as Internet Key Exchange (IKE) becomes time-consuming when directly deployed into cloud computing environment. In this paper we propose a novel hierarchical key exchange scheme, namely Cloud Background Hierarchical Key Exchange (CBHKE). Based on our previous work, CBHKE aims at providing secure and efficient scheduling for cloud computing environment. In our new scheme, we design a two-phase layer-by-layer iterative key exchange strategy to achieve more efficient AKE without sacrificing the level of data security. Both theoretical analysis and experimental results demonstrate that when deployed in cloud computing environment, efficiency of the proposed scheme is dramatically superior to its predecessors CCBKE and IKE schemes.

The ApolloScape Dataset for Autonomous Driving Scene parsing aims to assign a class (semantic) label for each pixel in an image. It is a comprehensive analysis of an image. Given the rise of autonomous driving, pixel-accurate environmental perception is expected to be a key enabling technical piece. However, providing a large scale dataset for the design and evaluation of scene parsing algorithms, in particular for outdoor scenes, has been difficult. The per-pixel labelling process is prohibitively expensive, limiting the scale of existing ones. In this paper, we present a large-scale open dataset, ApolloScape, that consists of RGB videos and corresponding dense 3D point clouds. Comparing with existing datasets, our dataset has the following unique properties. The first is its scale, our initial release contains over 140K images - each with its per-pixel semantic mask, up to 1M is scheduled. The second is its complexity. Captured in various traffic conditions, the number of moving objects averages from tens to over one hundred (Figure 1). And the third is the 3D attribute, each image is tagged with high-accuracy pose information at cm accuracy and the static background point cloud has mm relative accuracy. We are able to label these many images by an interactive and efficient labelling pipeline that utilizes the high-quality 3D point cloud. Moreover, our dataset also contains different lane markings based on the lane colors and styles. We expect our new dataset can deeply benefit various autonomous driving related applications that include but not limited to 2D/3D scene understanding, localization, transfer learning, and driving simulation.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Which Learning Visualisations to Offer Students? Research on learning visualisations does not always consider open learner models (OLM), where visualisations support learner decision-making. A range of preferences has been found, but studies mostly compare visualisations within single systems, so some have not yet been contrasted. This paper: (i) offers OLM researchers further results based on screenshots that include a broader range of visualisations than previously; (ii) introduces OLM views for the attention of those in other e-learning fields, as these may be relevant to their context.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Optimal Resource Allocation for RF-Powered Underlay Cognitive Radio Networks With Ambient Backscatter Communication In this paper, we study radio frequency (RF)-powered underlay cognitive radio networks (CRNs) with power-domain non-orthogonal multiple access (NOMA). In these networks, by using the harvest-then-transmit (HTT) mode, secondary transmitters (STs) can use the harvested energy to simultaneously transmit data based on power-domain NOMA. However, in this mode, the throughput of the secondary system heavily depends not only on the harvested energy, but also on the stringent interference threshold imposed by the primary users. Furthermore, ambient backscatter communication (ABC) has been introduced as a promising technique which enables STs to transmit information by modulating and reflecting ambient RF signals. Therefore, it has the potentiality to be integrated into the RF-powered underlay CR-NOMA networks to improve the throughput of the secondary system. In these networks, each ST works on either the HTT mode or the ABC mode, but not simultaneously. In order to meet the interference constraint of the primary users, STs control their transmit power by finding the appropriate tradeoff between the HTT mode and the ABC mode. We formulate an optimization problem with the goal of achieving the maximum throughput by finding the optimal time resource allocation between the HTT mode and the ABC mode under the strict transmit power constraint at STs. Then the Lagrangian multiplier iterative algorithm is adopted to solve this optimization problem. Simulation results demonstrate that our proposed scheme can significantly improve the performance of the secondary system by comparing it with the other two baseline schemes.

IoT-U: Cellular Internet-of-Things Networks Over Unlicensed Spectrum. In this paper, we consider an uplink cellular Internet-of-Things (IoT) network, where a cellular user (CU) can serve as the mobile data aggregator for a cluster of IoT devices. To be specific, the IoT devices can either transmit the sensory data to the base station (BS) directly by cellular communications, or first aggregate the data to a CU through machine-to-machine (M2M) communications before t...

Cognitive Capacity Harvesting Networks: Architectural Evolution Toward Future Cognitive Radio Networks. Cognitive radio technologies enable users to opportunistically access unused licensed spectrum and are viewed as a promising way to deal with the current spectrum crisis. Over the last 15 years, cognitive radio technologies have been extensively studied from algorithmic design to practical implementation. One pressing and fundamental problem is how to integrate cognitive radios into current wirele...

Chinese Remainder Theorem-Based Sequence Design for Resource Block Assignment in Relay-Assisted Internet-of-Things Communications. Terminal relays are expected to play a key role in facilitating the communication between base stations and low-cost power-constrained cellular Internet of Things (IoT) devices. However, these mobile relays require a mechanism by which they can autonomously assign the available resource blocks (RBs) to their assisted IoT devices in the absence of channel state information (CSI) and with minimal as...

A Bio-Inspired Solution to Cluster-Based Distributed Spectrum Allocation in High-Density Cognitive Internet of Things With the emergence of Internet of Things (IoT), where any device is able to connect to the Internet and monitor/control physical elements, several applications were made possible, such as smart cities, smart health care, and smart transportation. The wide range of the requirements of these applications drives traditional IoT to cognitive IoT (CIoT) that supports smart resource allocation, automatic network operation and intelligent service provisioning. To enable CIoT, there is a need for flexible and reliable wireless communication. In this paper, we propose to combine cognitive radio (CR) with a biological mechanism called reaction–diffusion to provide efficient spectrum allocation for CIoT. We first formulate the quantization of qualitative connectivity-flexibility tradeoff problem to determine the optimal cluster size (i.e., number of cluster members) that maximizes clustered throughput but minimizes communication delay. Then, we propose a bio-inspired algorithm which is used by CIoT devices to form cluster distributedly. We compute the optimal values of the algorithm’s parameters (e.g., contention window) of the proposed algorithm to increase the network’s adaption to different scenarios (e.g., spectrum homogeneity and heterogeneity) and to decrease convergence time, communication overhead, and computation complexity. We conduct a theoretical analysis to validate the correctness and effectiveness of proposed bio-inspired algorithm. Simulation results show that the proposed algorithm can achieve excellent clustering performance in different scenarios.

Energy Minimization of Multi-cell Cognitive Capacity Harvesting Networks with Neighbor Resource Sharing In this paper, we investigate the energy minimization problem for a cognitive capacity harvesting network (CCHN), where secondary users (SUs) without cognitive radio (CR) capability communicate with CR routers via device-to-device (D2D) transmissions, and CR routers connect with base stations (BSs) via CR links. Different from traditional D2D networks that D2D transmissions share the resource of c...

Wireless sensor networks: a survey This paper describes the concept of sensor networks which has been made viable by the convergence of micro-electro-mechanical systems technology, wireless communications and digital electronics. First, the sensing tasks and the potential sensor networks applications are explored, and a review of factors influencing the design of sensor networks is provided. Then, the communication architecture for sensor networks is outlined, and the algorithms and protocols developed for each layer in the literature are explored. Open research issues for the realization of sensor networks are also discussed.

ImageNet Classification with Deep Convolutional Neural Networks. We trained a large, deep convolutional neural network to classify the 1.2 million high-resolution images in the ImageNet LSVRC-2010 contest into the 1000 different classes. On the test data, we achieved top-1 and top-5 error rates of 37.5% and 17.0%, respectively, which is considerably better than the previous state-of-the-art. The neural network, which has 60 million parameters and 650,000 neurons, consists of five convolutional layers, some of which are followed by max-pooling layers, and three fully connected layers with a final 1000-way softmax. To make training faster, we used non-saturating neurons and a very efficient GPU implementation of the convolution operation. To reduce overfitting in the fully connected layers we employed a recently developed regularization method called \"dropout\" that proved to be very effective. We also entered a variant of this model in the ILSVRC-2012 competition and achieved a winning top-5 test error rate of 15.3%, compared to 26.2% achieved by the second-best entry.

The Whale Optimization Algorithm. The Whale Optimization Algorithm inspired by humpback whales is proposed.The WOA algorithm is benchmarked on 29 well-known test functions.The results on the unimodal functions show the superior exploitation of WOA.The exploration ability of WOA is confirmed by the results on multimodal functions.The results on structural design problems confirm the performance of WOA in practice. This paper proposes a novel nature-inspired meta-heuristic optimization algorithm, called Whale Optimization Algorithm (WOA), which mimics the social behavior of humpback whales. The algorithm is inspired by the bubble-net hunting strategy. WOA is tested with 29 mathematical optimization problems and 6 structural design problems. Optimization results prove that the WOA algorithm is very competitive compared to the state-of-art meta-heuristic algorithms as well as conventional methods. The source codes of the WOA algorithm are publicly available at http://www.alimirjalili.com/WOA.html

Collaborative privacy management The landscape of the World Wide Web with all its versatile services heavily relies on the disclosure of private user information. Unfortunately, the growing amount of personal data collected by service providers poses a significant privacy threat for Internet users. Targeting growing privacy concerns of users, privacy-enhancing technologies emerged. One goal of these technologies is the provision of tools that facilitate a more informative decision about personal data disclosures. A famous PET representative is the PRIME project that aims for a holistic privacy-enhancing identity management system. However, approaches like the PRIME privacy architecture require service providers to change their server infrastructure and add specific privacy-enhancing components. In the near future, service providers are not expected to alter internal processes. Addressing the dependency on service providers, this paper introduces a user-centric privacy architecture that enables the provider-independent protection of personal data. A central component of the proposed privacy infrastructure is an online privacy community, which facilitates the open exchange of privacy-related information about service providers. We characterize the benefits and the potentials of our proposed solution and evaluate a prototypical implementation.

Data-Driven Intelligent Transportation Systems: A Survey For the last two decades, intelligent transportation systems (ITS) have emerged as an efficient way of improving the performance of transportation systems, enhancing travel security, and providing more choices to travelers. A significant change in ITS in recent years is that much more data are collected from a variety of sources and can be processed into various forms for different stakeholders. The availability of a large amount of data can potentially lead to a revolution in ITS development, changing an ITS from a conventional technology-driven system into a more powerful multifunctional data-driven intelligent transportation system (D2ITS) : a system that is vision, multisource, and learning algorithm driven to optimize its performance. Furthermore, D2ITS is trending to become a privacy-aware people-centric more intelligent system. In this paper, we provide a survey on the development of D2ITS, discussing the functionality of its key components and some deployment issues associated with D2ITS Future research directions for the development of D2ITS is also presented.

Online Prediction of Driver Distraction Based on Brain Activity Patterns This paper presents a new computational framework for early detection of driver distractions (map viewing) using brain activity measured by electroencephalographic (EEG) signals. Compared with most studies in the literature, which are mainly focused on the classification of distracted and nondistracted periods, this study proposes a new framework to prospectively predict the start and end of a distraction period, defined by map viewing. The proposed prediction algorithm was tested on a data set of continuous EEG signals recorded from 24 subjects. During the EEG recordings, the subjects were asked to drive from an initial position to a destination using a city map in a simulated driving environment. The overall accuracy values for the prediction of the start and the end of map viewing were 81% and 70%, respectively. The experimental results demonstrated that the proposed algorithm can predict the start and end of map viewing with relatively high accuracy and can be generalized to individual subjects. The outcome of this study has a high potential to improve the design of future intelligent navigation systems. Prediction of the start of map viewing can be used to provide route information based on a driver's needs and consequently avoid map-viewing activities. Prediction of the end of map viewing can be used to provide warnings for potential long map-viewing durations. Further development of the proposed framework and its applications in driver-distraction predictions are also discussed.

Adaptive Fuzzy Control With Prescribed Performance for Block-Triangular-Structured Nonlinear Systems. In this paper, an adaptive fuzzy control method with prescribed performance is proposed for multi-input and multioutput block-triangular-structured nonlinear systems with immeasurable states. Fuzzy logic systems are adopted to identify the unknown nonlinear system functions. Adaptive fuzzy state observers are designed to solve the problem of unmeasured states, and a new observer-based output-feedb...

Learning Feature Recovery Transformer for Occluded Person Re-Identification One major issue that challenges person re-identification (Re-ID) is the ubiquitous occlusion over the captured persons. There are two main challenges for the occluded person Re-ID problem, i.e., the interference of noise during feature matching and the loss of pedestrian information brought by the occlusions. In this paper, we propose a new approach called Feature Recovery Transformer (FRT) to address the two challenges simultaneously, which mainly consists of visibility graph matching and feature recovery transformer. To reduce the interference of the noise during feature matching, we mainly focus on visible regions that appear in both images and develop a visibility graph to calculate the similarity. In terms of the second challenge, based on the developed graph similarity, for each query image, we propose a recovery transformer that exploits the feature sets of its k-nearest neighbors in the gallery to recover the complete features. Extensive experiments across different person Re-ID datasets, including occluded, partial and holistic datasets, demonstrate the effectiveness of FRT. Specifically, FRT significantly outperforms state-of-the-art results by at least 6.2% Rank- 1 accuracy and 7.2% mAP scores on the challenging Occluded-Duke dataset.

Distribution Network-Constrained Optimization of Peer-to-Peer Transactive Energy Trading Among Multi-Microgrids This article proposes a two-level network-constrained peer-to-peer (P2P) transactive energy for multi-microgrids (MGs), which guarantees the distribution power network security and allows MGs to trade energy with each other flexibly. At the lower level, a P2P transactive energy is employed for multi-MGs to trade energy with each other. A multi-leader multi-follower (MLMF) Stackelberg game approach is utilized to model the energy trading process among MGs. We prove the existence and the uniqueness of the Stackelberg equilibrium (SE) and provide the closed-form expression for SE. For privacy concerns, we provide several distributed algorithms to obtain SE. At the upper level, the distribution system operator (DSO) reconfigures the distribution network based on the P2P transactive energy trading results by applying the AC optimal power flow considering the distribution network reconfiguration. If there are any network violations, DSO requests trading adjustments at the lower level for network security. We reformulate the DSO operation problem in a mixed-integer second-order cone programming (MISOCP) model and ensure its solution accuracy. Numerical results for a 4-Microgrid system, a modified IEEE 33-bus and 123-bus distribution power system show the effectiveness of the proposed transactive model and its solution technique.

Stochastic Optimal Operation of Microgrid Based on Chaotic Binary Particle Swarm Optimization Based on fuzzy mathematics theory, this paper proposes a fuzzy multi-objective optimization model with related constraints to minimize the total economic cost and network loss of microgrid. Uncontrollable microsources are considered as negative load, and stochastic net load scenarios are generated for taking the uncertainty of their output power and load into account. Cooperating with storage devices of the optimal capacity controllable microsources are treated as variables in the optimization process with the consideration of their start and stop strategy. Chaos optimization algorithm is introduced into binary particle swarm optimization (BPSO) to propose chaotic BPSO (CBPSO). Search capability of BPSO is improved via the chaotic search approach of chaos optimization algorithm. Tests of four benchmark functions show that the proposed CBPSO has better convergence performance than BPSO. Simulation results validate the correctness of the proposed model and the effectiveness of CBPSO.

A Technical Approach to the Energy Blockchain in Microgrids. The present paper considers some technical issues related to the “energy blockchain” paradigm applied to microgrids. In particular, what appears from the study is that the superposition of energy transactions in a microgrid creates a variation of the power losses in all the branches of the microgrid. Traditional power losses allocation in distribution systems takes into account only generators whi...

Energy-Aware Green Adversary Model for Cyberphysical Security in Industrial System Adversary models have been fundamental to the various cryptographic protocols and methods. However, their use in most of the branches of research in computer science is comparatively restricted, primarily in case of the research in cyberphysical security (e.g., vulnerability studies, position confidentiality). In this article, we propose an energy-aware green adversary model for its use in smart industrial environment through achieving confidentiality. Even though, mutually the hardware and the software parts of cyberphysical systems can be improved to decrease its energy consumption, this article focuses on aspects of conserving position and information confidentiality. On the basis of our findings (assumptions, adversary goals, and capabilities) from the literature, we give some testimonials to help practitioners and researchers working in cyberphysical security. The proposed model that runs on real-time anticipatory position-based query scheduling in order to minimize the communication and computation cost for each query, thus, facilitating energy consumption minimization. Moreover, we calculate the transferring/acceptance slots required for each query to avoid deteriorating slots. The experimental results confirm that the proposed approach can diminish energy consumption up to five times in comparison to existing approaches

Energy-Efficient and Trustworthy Data Collection Protocol Based on Mobile Fog Computing in Internet of Things The tremendous growth of interconnected things/devices in the whole world advances to the new paradigm, i.e., Internet of Things (IoT). The IoT use sensor-based embedded systems to interact with others, providing a wide range of applications and services to upper-level users. Undoubtedly, the data collected by the underlying IoTs are the basis of the upper-layer decision and the foundation for all the applications, which requires efficient energy protocols. Moreover, if the collected data are erroneous and untrustworthy, the data protection and application becomes an unrealistic goal, which further leads to unnecessary energy cost. However, the traditional methods cannot solve this problem efficiently and trustworthily. To achieve this goal, in this paper we design a novel energy-efficient and trustworthy protocol based on mobile fog computing. By establishing a trust model on fog elements to evaluate the sensor nodes, the mobile data collection path with the largest utility value is generated, which can avoid visiting unnecessary sensors and collecting untrustworthy data. Theoretical analysis and experimental results validate that our proposed architecture and method outperform traditional data collection methods in both energy and delay.

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Massive MIMO for next generation wireless systems Multi-user MIMO offers big advantages over conventional point-to-point MIMO: it works with cheap single-antenna terminals, a rich scattering environment is not required, and resource allocation is simplified because every active terminal utilizes all of the time-frequency bins. However, multi-user MIMO, as originally envisioned, with roughly equal numbers of service antennas and terminals and frequency-division duplex operation, is not a scalable technology. Massive MIMO (also known as large-scale antenna systems, very large MIMO, hyper MIMO, full-dimension MIMO, and ARGOS) makes a clean break with current practice through the use of a large excess of service antennas over active terminals and time-division duplex operation. Extra antennas help by focusing energy into ever smaller regions of space to bring huge improvements in throughput and radiated energy efficiency. Other benefits of massive MIMO include extensive use of inexpensive low-power components, reduced latency, simplification of the MAC layer, and robustness against intentional jamming. The anticipated throughput depends on the propagation environment providing asymptotically orthogonal channels to the terminals, but so far experiments have not disclosed any limitations in this regard. While massive MIMO renders many traditional research problems irrelevant, it uncovers entirely new problems that urgently need attention: the challenge of making many low-cost low-precision components that work effectively together, acquisition and synchronization for newly joined terminals, the exploitation of extra degrees of freedom provided by the excess of service antennas, reducing internal power consumption to achieve total energy efficiency reductions, and finding new deployment scenarios. This article presents an overview of the massive MIMO concept and contemporary research on the topic.

Deep Residual Learning for Image Recognition Deeper neural networks are more difficult to train. We present a residual learning framework to ease the training of networks that are substantially deeper than those used previously. We explicitly reformulate the layers as learning residual functions with reference to the layer inputs, instead of learning unreferenced functions. We provide comprehensive empirical evidence showing that these residual networks are easier to optimize, and can gain accuracy from considerably increased depth. On the ImageNet dataset we evaluate residual nets with a depth of up to 152 layers - 8× deeper than VGG nets [40] but still having lower complexity. An ensemble of these residual nets achieves 3.57% error on the ImageNet test set. This result won the 1st place on the ILSVRC 2015 classification task. We also present analysis on CIFAR-10 with 100 and 1000 layers. The depth of representations is of central importance for many visual recognition tasks. Solely due to our extremely deep representations, we obtain a 28% relative improvement on the COCO object detection dataset. Deep residual nets are foundations of our submissions to ILSVRC & COCO 2015 competitions1, where we also won the 1st places on the tasks of ImageNet detection, ImageNet localization, COCO detection, and COCO segmentation.

Reaching Agreement in the Presence of Faults The problem addressed here concerns a set of isolated processors, some unknown subset of which may be faulty, that communicate only by means of two-party messages. Each nonfaulty processor has a private value of information that must be communicated to each other nonfaulty processor. Nonfaulty processors always communicate honestly, whereas faulty processors may lie. The problem is to devise an algorithm in which processors communicate their own values and relay values received from others that allows each nonfaulty processor to infer a value for each other processor. The value inferred for a nonfaulty processor must be that processor's private value, and the value inferred for a faulty one must be consistent with the corresponding value inferred by each other nonfaulty processor.It is shown that the problem is solvable for, and only for, n ≥ 3m + 1, where m is the number of faulty processors and n is the total number. It is also shown that if faulty processors can refuse to pass on information but cannot falsely relay information, the problem is solvable for arbitrary n ≥ m ≥ 0. This weaker assumption can be approximated in practice using cryptographic methods.

Reservoir computing approaches to recurrent neural network training Echo State Networks and Liquid State Machines introduced a new paradigm in artificial recurrent neural network (RNN) training, where an RNN (the reservoir) is generated randomly and only a readout is trained. The paradigm, becoming known as reservoir computing, greatly facilitated the practical application of RNNs and outperformed classical fully trained RNNs in many tasks. It has lately become a vivid research field with numerous extensions of the basic idea, including reservoir adaptation, thus broadening the initial paradigm to using different methods for training the reservoir and the readout. This review systematically surveys both current ways of generating/adapting the reservoirs and training different types of readouts. It offers a natural conceptual classification of the techniques, which transcends boundaries of the current “brand-names” of reservoir methods, and thus aims to help in unifying the field and providing the reader with a detailed “map” of it.

Implementing Vehicle Routing Algorithms

Finite-approximation-error-based discrete-time iterative adaptive dynamic programming. In this paper, a new iterative adaptive dynamic programming (ADP) algorithm is developed to solve optimal control problems for infinite horizon discrete-time nonlinear systems with finite approximation errors. First, a new generalized value iteration algorithm of ADP is developed to make the iterative performance index function converge to the solution of the Hamilton-Jacobi-Bellman equation. The ...

An evolutionary programming approach for securing medical images using watermarking scheme in invariant discrete wavelet transformation. •The proposed watermarking scheme utilized improved discrete wavelet transformation (IDWT) to retrieve the invariant wavelet domain.•The entropy mechanism is used to identify the suitable region for insertion of watermark. This will improve the imperceptibility and robustness of the watermarking procedure.•The scaling factors such as PSNR and NC are considered for evaluation of the proposed method and the Particle Swarm Optimization is employed to optimize the scaling factors.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Double warning thresholds for preemptive charging scheduling in Wireless Rechargeable Sensor Networks. Wireless power transfer technique provides new alternatives for solving the limited power capacity problem for ubiquitous mobile wireless devices, and makes wireless rechargeable sensor networks (WRSNs) promising. However, mainly due to the underestimate of unbalanced influences of spatial and temporal constraints posed by charging requests, traditional scheduling strategies achieve rather low charging request throughput and success rate, posing as a major bottleneck for further improvement. In this paper, we propose a Double Warning thresholds with Double Preemption (DWDP) charging scheme, in which double warning thresholds are used when residual energy levels of sensor nodes fall below certain thresholds. By introducing specific comparison rules, warning thresholds can be used to adjust charging priorities of different sensors, warn the upcoming recharge deadlines, as well as support preemptive scheduling. Then DWDP is extended to where multiple Wireless Charging Vehicles (WCVs) are employed, and a Collaborative Charging DWDP, namely CCDWDP is proposed. Finally, we conduct extensive simulations to manifest the advantages of DWDP as well as CCDWDP. Simulation results reveal that DWDP can achieve better performance in guaranteeing the successful scheduling of the high-priority task and improving stability of the system. CCDWDP outperforms in terms of high charging throughput and short charging delay.

A Coverage-Aware Hierarchical Charging Algorithm in Wireless Rechargeable Sensor Networks Constant energy supply for sensor nodes is essential for the development of the green Internet of Things (IoT). Recently, WRSNs have been proposed to resolve the energy limitations of nodes, aiming to realize continuous functioning. In this article, a coverage-aware hierarchical charging algorithm in WRSNs is proposed, considering energy consumption and the degree of node coverage. The algorithm first performs network clustering using the K-means algorithm. In addition, nodes are classified into multiple levels in each cluster to calculate respective anchor points based on the energy consumption rate and coverage degree of nodes. Then, the anchor points converge to an optimized anchor point in each cluster. To reduce charging latency, the optimized anchor points form two disjoint internal and external polygons. Next, mobile chargers travel along the internal and external polygons, respectively. Experimental results indicate that the proposed algorithm can improve charging efficiency and reduce charging latency substantially.

A deep reinforcement learning-based on-demand charging algorithm for wireless rechargeable sensor networks Wireless rechargeable sensor networks are widely used in many fields. However, the limited battery capacity of sensor nodes hinders its development. With the help of wireless energy transfer technology, employing a mobile charger to charge sensor nodes wirelessly has become a promising technology for prolonging the lifetime of wireless sensor networks. Considering that the energy consumption rate varies significantly among sensors, we need a better way to model the charging demand of each sensor, such that the sensors are able to be charged multiple times in one charging tour. Therefore, time window is used to represent charging demand. In order to allow the mobile charger to respond to these charging demands in time and transfer more energy to the sensors, we introduce a new metric: charging reward. This new metric enables us to measure the quality of sensor charging. And then, we study the problem of how to schedule the mobile charger to replenish the energy supply of sensors, such that the sum of charging rewards collected by mobile charger on its charging tour is maximized. The sum of the collected charging reward is subject to the energy capacity constraint on the mobile charger and the charging time windows of all sensor nodes. We first prove that this problem is NP-hard. Due to the complexity of the problem, then deep reinforcement learning technique is exploited to obtain the moving path for mobile charger. Finally, experimental simulations are conducted to evaluate the performance of the proposed charging algorithm, and the results show that the proposed scheme is very promising.

Tag-based cooperative data gathering and energy recharging in wide area RFID sensor networks The Wireless Identification and Sensing Platform (WISP) conjugates the identification potential of the RFID technology and the sensing and computing capability of the wireless sensors. Practical issues, such as the need of periodically recharging WISPs, challenge the effective deployment of large-scale RFID sensor networks (RSNs) consisting of RFID readers and WISP nodes. In this view, the paper proposes cooperative solutions to energize the WISP devices in a wide-area sensing network while reducing the data collection delay. The main novelty is the fact that both data transmissions and energy transfer are based on the RFID technology only: RFID mobile readers gather data from the WISP devices, wirelessly recharge them, and mutually cooperate to reduce the data delivery delay to the sink. Communication between mobile readers relies on two proposed solutions: a tag-based relay scheme, where RFID tags are exploited to temporarily store sensed data at pre-determined contact points between the readers; and a tag-based data channel scheme, where the WISPs are used as a virtual communication channel for real time data transfer between the readers. Both solutions require: (i) clustering the WISP nodes; (ii) dimensioning the number of required RFID mobile readers; (iii) planning the tour of the readers under the energy and time constraints of the nodes. A simulative analysis demonstrates the effectiveness of the proposed solutions when compared to non-cooperative approaches. Differently from classic schemes in the literature, the solutions proposed in this paper better cope with scalability issues, which is of utmost importance for wide area networks.

Joint Power Charging and Routing in Wireless Rechargeable Sensor Networks. The development of wireless power transfer (WPT) technology has inspired the transition from traditional battery-based wireless sensor networks (WSNs) towards wireless rechargeable sensor networks (WRSNs). While extensive efforts have been made to improve charging efficiency, little has been done for routing optimization. In this work, we present a joint optimization model to maximize both charging efficiency and routing structure. By analyzing the structure of the optimization model, we first decompose the problem and propose a heuristic algorithm to find the optimal charging efficiency for the predefined routing tree. Furthermore, by coding the many-to-one communication topology as an individual, we further propose to apply a genetic algorithm (GA) for the joint optimization of both routing and charging. The genetic operations, including tree-based recombination and mutation, are proposed to obtain a fast convergence. Our simulation results show that the heuristic algorithm reduces the number of resident locations and the total moving distance. We also show that our proposed algorithm achieves a higher charging efficiency compared with existing algorithms.

Hybrid charging scheduling schemes for three-dimensional underwater wireless rechargeable sensor networks. •We are the first to study charging issue for 3D underwater rechargeable sensor networks.•We develop a series of charging algorithms for enhancing energy efficiency.•Our schemes can save energy, save time, and ensure effective utilization of resources.

Energy and Distance Optimization in Rechargeable Wireless Sensor Networks The aim of a mobile recharger operating in a wireless sensor network (WSN) is to keep the network's average consumed energy and covered distance low. As shown in the literature, the covered distance is minimized when the mobile recharger's base is located as per the solution of a median problem, while the network's average energy consumption is minimized as per the solution of a different median problem. In this work, the first problem is analytically investigated, showing that its solution depends on the traffic load and the topology characteristics. Furthermore, it is shown that, under certain conditions, the solution for both problems is identical. These analytical results motivate the introduction of a new on-demand recharging policy, simple to be implemented and depending on local information. The simulation results confirm the analytical findings, showing that the solutions of both median problems are identical under certain conditions in WSN environments. Additionally, the proposed recharging policy is evaluated against a well-known policy that exploits global knowledge, demonstrating its advantage for prolonging network lifetime. For both recharging policies, it is shown that energy consumption and covered distance are minimized when the mobile recharger is initially located at the solution of the said median problems.

MAC protocols for wireless sensor networks: a survey Wireless sensor networks are appealing to researchers due to their wide range of application potential in areas such as target detection and tracking, environmental monitoring, industrial process monitoring, and tactical systems. However, low sensing ranges result in dense networks and thus it becomes necessary to achieve an efficient medium-access protocol subject to power constraints. Various medium-access control (MAC) protocols with different objectives have been proposed for wireless sensor networks. In this article, we first outline the sensor network properties that are crucial for the design of MAC layer protocols. Then, we describe several MAC protocols proposed for sensor networks, emphasizing their strengths and weaknesses. Finally, we point out open research issues with regard to MAC layer design.

Efficient Scheduling of Multiple Mobile Chargers for Wireless Sensor Networks. In this paper, we study the deployment of multiple mobile charging vehicles to charge sensors in a large-scale wireless sensor network for a given monitoring period so that none of the sensors will run out of energy, where sensors can be charged by the charging vehicles with wireless energy transfer. To minimize the network operational cost, we first formulate a charging scheduling problem of disp...

A comparative study of texture measures with classification based on featured distributions This paper evaluates the performance both of some texture measures which have been successfully used in various applications and of some new promising approaches proposed recently. For classification a method based on Kullback discrimination of sample and prototype distributions is used. The classification results for single features with one-dimensional feature value distributions and for pairs of complementary features with two-dimensional distributions are presented

Distributed finite-time attitude containment control for multiple rigid bodies Distributed finite-time attitude containment control for multiple rigid bodies is addressed in this paper. When there exist multiple stationary leaders, we propose a model-independent control law to guarantee that the attitudes of the followers converge to the stationary convex hull formed by those of the leaders in finite time by using both the one-hop and two-hop neighbors’ information. We also discuss the special case of a single stationary leader and propose a control law using only the one-hop neighbors’ information to guarantee cooperative attitude regulation in finite time. When there exist multiple dynamic leaders, a distributed sliding-mode estimator and a non-singular sliding surface were given to guarantee that the attitudes and angular velocities of the followers converge, respectively, to the dynamic convex hull formed by those of the leaders in finite time. We also explicitly show the finite settling time.

Distributed Channel Selection in Time-Varying Radio Environment: Interference Mitigation Game With Uncoupled Stochastic Learning This paper investigates the problem of distributed channel selection for interference mitigation in a time-varying radio environment without information exchange. Most existing algorithms, which were originally designed for static channels, are costly and inefficient in the presence of time-varying channels. First, we formulate this problem as a noncooperative game, in which the utility of each player is defined as a function of its experienced expected weighted interference. This game is proven to be an exact potential game with the considered network utility (the expected weighted aggregate interference) serving as the potential function. However, most game-theoretic algorithms are not suitable for the considered network, since they are coupled, i.e., the updating procedure is relying on the actions or payoffs of other players. Then, we propose a simple, completely distributed, and uncoupled stochastic learning algorithm, with which the users learn the desirable channel selections from their individual trial-payoff history. It is analytically shown that the proposed algorithm converges to pure strategy Nash equilibrium in time-varying radio environment; moreover, it achieves optimal channel selection profiles and makes the network interference-free for underloaded or equally loaded scenarios, while achieving, on average, near-optimal performance for overloaded scenarios.

Distributed Adaptive Fuzzy Containment Control of Stochastic Pure-Feedback Nonlinear Multiagent Systems With Local Quantized Controller and Tracking Constraint This paper studies the distributed adaptive fuzzy containment tracking control for a class of high-order stochastic pure-feedback nonlinear multiagent systems with multiple dynamic leaders and performance constraint requirement. The control inputs are quantized by hysteresis quantizers. Mean value theorems are used to transfer the nonaffine systems into affine forms and a nonlinear decomposition is employed to solve the quantized input control problem. With a novel structure barrier Lyapunov function, the distributed control strategy is developed. It is strictly proved that the outputs of the followers converge to the convex hull spanned by the multiple dynamic leaders, the containment tracking errors satisfy the performance constraint requirement and the resulting leader-following multiagent system is stable in probability based on Lyapunov stability theory. At last, simulation is provided to show the validity and the advantages of the proposed techniques.

Active Suspension Control of Quarter-Car System With Experimental Validation A reliable, efficient, and simple control is presented and validated for a quarter-car active suspension system equipped with an electro-hydraulic actuator. Unlike the existing techniques, this control does not use any function approximation, e.g., neural networks (NNs) or fuzzy-logic systems (FLSs), while the unmolded dynamics, including the hydraulic actuator behavior, can be accommodated effectively. Hence, the heavy computational costs and tedious parameter tuning phase can be remedied. Moreover, both the transient and steady-state suspension performance can be retained by incorporating prescribed performance functions (PPFs) into the control implementation. This guaranteed performance is particularly useful for guaranteeing the safe operation of suspension systems. Apart from theoretical studies, some practical considerations of control implementation and several parameter tuning guidelines are suggested. Experimental results based on a practical quarter-car active suspension test-rig demonstrate that this control can obtain a superior performance and has better computational efficiency over several other control methods.

Optimal Deployment Of Charging Stations For Aerial Surveillance By Uavs With The Assistance Of Public Transportation Vehicles To overcome the limitation in flight time and enable unmanned aerial vehicles (UAVs) to survey remote sites of interest, this paper investigates an approach involving the collaboration with public transportation vehicles (PTVs) and the deployment of charging stations. In particular, the focus of this paper is on the deployment of charging stations. In this approach, a UAV first travels with some PTVs, and then flies through some charging stations to reach remote sites. While the travel time with PTVs can be estimated by the Monte Carlo method to accommodate various uncertainties, we propose a new coverage model to compute the travel time taken for UAVs to reach the sites. With this model, we formulate the optimal deployment problem with the goal of minimising the average travel time of UAVs from the depot to the sites, which can be regarded as a reflection of the quality of surveillance (QoS) (the shorter the better). We then propose an iterative algorithm to place the charging stations. We show that this algorithm ensures that any movement of a charging station leads to a decrease in the average travel time of UAVs. To demonstrate the effectiveness of the proposed method, we make a comparison with a baseline method. The results show that the proposed model can more accurately estimate the travel time than the most commonly used model, and the proposed algorithm can relocate the charging stations to achieve a lower flight distance than the baseline method.

IoT Elements, Layered Architectures and Security Issues: A Comprehensive Survey. The use of the Internet is growing in this day and age, so another area has developed to use the Internet, called Internet of Things (IoT). It facilitates the machines and objects to communicate, compute and coordinate with each other. It is an enabler for the intelligence affixed to several essential features of the modern world, such as homes, hospitals, buildings, transports and cities. The security and privacy are some of the critical issues related to the wide application of IoT. Therefore, these issues prevent the wide adoption of the IoT. In this paper, we are presenting an overview about different layered architectures of IoT and attacks regarding security from the perspective of layers. In addition, a review of mechanisms that provide solutions to these issues is presented with their limitations. Furthermore, we have suggested a new secure layered architecture of IoT to overcome these issues.

A Multicharger Cooperative Energy Provision Algorithm Based On Density Clustering In The Industrial Internet Of Things Wireless sensor networks (WSNs) are an important core of the Industrial Internet of Things (IIoT). Wireless rechargeable sensor networks (WRSNs) are sensor networks that are charged by mobile chargers (MCs), and can achieve self-sufficiency. Therefore, the development of WRSNs has begun to attract widespread attention in recent years. Most of the existing energy replenishment algorithms for MCs use one or more MCs to serve the whole network in WRSNs. However, a single MC is not suitable for large-scale network environments, and multiple MCs make the network cost too high. Thus, this paper proposes a collaborative charging algorithm based on network density clustering (CCA-NDC) in WRSNs. This algorithm uses the mean-shift algorithm based on density to cluster, and then the mother wireless charger vehicle (MWCV) carries multiple sub wireless charger vehicles (SWCVs) to charge the nodes in each cluster by using a gradient descent optimization algorithm. The experimental results confirm that the proposed algorithm can effectively replenish the energy of the network and make the network more stable.

Dynamic Charging Scheme Problem With Actor–Critic Reinforcement Learning The energy problem is one of the most important challenges in the application of sensor networks. With the development of wireless charging technology and intelligent mobile charger (MC), the energy problem can be solved by the wireless charging strategy. In the practical application of wireless rechargeable sensor networks (WRSNs), the energy consumption rate of nodes is dynamically changed due to many uncertainties, such as the death and different transmission tasks of sensor nodes. However, existing works focus on on-demand schemes, which not fully consider real-time global charging scheduling. In this article, a novel dynamic charging scheme (DCS) in WRSN based on the actor-critic reinforcement learning (ACRL) algorithm is proposed. In the ACRL, we introduce gated recurrent units (GRUs) to capture the relationships of charging actions in time sequence. Using the actor network with one GRU layer, we can pick up an optimal or near-optimal sensor node from candidates as the next charging target more quickly and speed up the training of the model. Meanwhile, we take the tour length and the number of dead nodes as the reward signal. Actor and critic networks are updated by the error criterion function of R and V. Compared with current on-demand charging scheduling algorithms, extensive simulations show that the proposed ACRL algorithm surpasses heuristic algorithms, such as the Greedy, DP, nearest job next with preemption, and TSCA in the average lifetime and tour length, especially against the size and complexity increasing of WRSNs.

The Challenges of IoT Addressing Security, Ethics, Privacy, and Laws •The greatest threats of IoT arise in the domains of security, privacy, ethics, and laws•The majority of the research on IoT vulnerabilities is focused only on security while neglecting the equally crucial ethical and privacy aspects•The common user must be made aware of the security, ethical, and privacy threats imposed by modern IoT devices•Only a handful of nations have implemented IoT-specific laws•Statement of Intent Regarding the Security of the Internet of Things is currently the only legal document pertaining to IoT on a truly international level apart from international standards

Multi-Mc Charging Schedule Algorithm With Time Windows In Wireless Rechargeable Sensor Networks The limited lifespan of the traditional Wireless Sensor Networks (WSNs) has always restricted the broad application and development of WSNs. The current studies have shown that the wireless power transmission technology can effectively prolong the lifetime of WSNs. In most present studies on charging schedules, the sensor nodes will be charged once they have energy consumption, which will cause higher cost and lower networks utility. It is assumed in this paper that the sensor nodes in Wireless Rechargeable Sensor Networks (WRSNs) will be charged only after its energy is lower than a certain value. Each node has a charging time window and is charged within its respective time window. In large-scale wireless sensor networks, single mobile charger (MC) is difficult to ensure that all sensor nodes work properly. Therefore, it is propoesd in this paper that the multiple MCs which are used to replenish energy for the sensor nodes. When the average energy of all the sensor nodes falls below the upper energy threshold, each MC begins to charge the sensor nodes. The genetic algorithm has a great advantage in solving optimization problems. However, it could easily lead to inadequate search. Therefore, the genetic algorithm is improved by 2-opt strategy. And then multi-MC charging schedule algorithm with time windows based on genetic algorithm is proposed and simulated. The simulation results show that the algorithm designed in this paper can timely replenish energy for each sensor node and minimize the total charging cost.

Evaluating the On-Demand Mobile Charging in Wireless Sensor Networks Recently, adopting mobile energy chargers to replenish the energy supply of sensor nodes in wireless sensor networks has gained increasing attention from the research community. Different from energy harvesting systems, the utilization of mobile energy chargers is able to provide more reliable energy supply than the dynamic energy harvested from the surrounding environment. While pioneering works on the mobile recharging problem mainly focus on the optimal offline path planning for the mobile chargers, in this work, we aim to lay the theoretical foundation for the on-demand mobile charging problem, where individual sensor nodes request charging from the mobile charger when their energy runs low. Specifically, in this work we analyze the On-Demand Mobile Charging (DMC) problem using a simple but efficient Nearest-Job-Next with Preemption (NJNP) discipline for the mobile charger, and provide analytical results on the system throughput and charging latency from the perspectives of the mobile charger and individual sensor nodes, respectively. To demonstrate how the actual system design can benefit from our analytical results, we present two examples on determining the essential system parameters such as the optimal remaining energy level for individual sensor nodes to send out their recharging requests and the minimal energy capacity required for the mobile charger. Through extensive simulation with real-world system settings, we verify that our analytical results match the simulation results well and the system designs based on our analysis are effective.

Recognizing daily activities with RFID-based sensors We explore a dense sensing approach that uses RFID sensor network technology to recognize human activities. In our setting, everyday objects are instrumented with UHF RFID tags called WISPs that are equipped with accelerometers. RFID readers detect when the objects are used by examining this sensor data, and daily activities are then inferred from the traces of object use via a Hidden Markov Model. In a study of 10 participants performing 14 activities in a model apartment, our approach yielded recognition rates with precision and recall both in the 90% range. This compares well to recognition with a more intrusive short-range RFID bracelet that detects objects in the proximity of the user; this approach saw roughly 95% precision and 60% recall in the same study. We conclude that RFID sensor networks are a promising approach for indoor activity monitoring.

Digital games in the classroom? A contextual approach to teachers' adoption intention of digital games in formal education Interest in using digital games for formal education has steadily increased in the past decades. When it comes to actual use, however, the uptake of games in the classroom remains limited. Using a contextual approach, the possible influence of factors on a school (N=60) and teacher (N=409) level are analyzed. Findings indicate that there is no effect of factors on the school level whereas on a teacher level, a model is tested, explaining 68% of the variance in behavioral intention, in which curriculum-relatedness and previous experience function as crucial determinants of the adoption intention. These findings add to previous research on adoption determinants related to digital games in formal education. Furthermore, they provide insight into the relations between different adoption determinants and their association with behavioral intention.

Are we ready for autonomous driving? The KITTI vision benchmark suite Today, visual recognition systems are still rarely employed in robotics applications. Perhaps one of the main reasons for this is the lack of demanding benchmarks that mimic such scenarios. In this paper, we take advantage of our autonomous driving platform to develop novel challenging benchmarks for the tasks of stereo, optical flow, visual odometry/SLAM and 3D object detection. Our recording platform is equipped with four high resolution video cameras, a Velodyne laser scanner and a state-of-the-art localization system. Our benchmarks comprise 389 stereo and optical flow image pairs, stereo visual odometry sequences of 39.2 km length, and more than 200k 3D object annotations captured in cluttered scenarios (up to 15 cars and 30 pedestrians are visible per image). Results from state-of-the-art algorithms reveal that methods ranking high on established datasets such as Middlebury perform below average when being moved outside the laboratory to the real world. Our goal is to reduce this bias by providing challenging benchmarks with novel difficulties to the computer vision community. Our benchmarks are available online at: www.cvlibs.net/datasets/kitti.

Piecewise linear mapping functions for image registration A new approach to determination of mapping functions for registration of digital images is presented. Given the coordinates of corresponding control points in two images of the same scene, first the images are divided into triangular regions by triangulating the control points. Then a linear mapping function is obtained by registering each pair of corresponding triangular regions in the images. The overall mapping function is then obtained by piecing together the linear mapping functions.

RECIFE-MILP: An Effective MILP-Based Heuristic for the Real-Time Railway Traffic Management Problem The real-time railway traffic management problem consists of selecting appropriate train routes and schedules for minimizing the propagation of delay in case of traffic perturbation. In this paper, we tackle this problem by introducing RECIFE-MILP, a heuristic algorithm based on a mixed-integer linear programming model. RECIFE-MILP uses a model that extends one we previously proposed by including additional elements characterizing railway reality. In addition, it implements performance boosting methods selected among several ones through an algorithm configuration tool. We present a thorough experimental analysis that shows that the performances of RECIFE-MILP are better than the ones of the currently implemented traffic management strategy. RECIFE-MILP often finds the optimal solution to instances within the short computation time available in real-time applications. Moreover, RECIFE-MILP is robust to its configuration if an appropriate selection of the combination of boosting methods is performed.

Flymap: Interacting With Maps Projected From A Drone Interactive maps have become ubiquitous in our daily lives, helping us reach destinations and discovering our surroundings. Yet, designing map interactions is not straightforward and depends on the device being used. As mobile devices evolve and become independent from users, such as with robots and drones, how will we interact with the maps they provide? We propose FlyMap as a novel user experience for drone-based interactive maps. We designed and developed three interaction techniques for FlyMap's usage scenarios. In a comprehensive indoor study (N = 16), we show the strengths and weaknesses of two techniques on users' cognition, task load, and satisfaction. FlyMap was then pilot tested with the third technique outdoors in real world conditions with four groups of participants (N = 13). We show that FlyMap's interactivity is exciting to users and opens the space for more direct interactions with drones.

Design and Validation of a Cable-Driven Asymmetric Back Exosuit Lumbar spine injuries caused by repetitive lifting rank as the most prevalent workplace injury in the United States. While these injuries are caused by both symmetric and asymmetric lifting, asymmetric is often more damaging. Many back devices do not address asymmetry, so we present a new system called the Asymmetric Back Exosuit (ABX). The ABX addresses this important gap through unique design geometry and active cable-driven actuation. The suit allows the user to move in a wide range of lumbar trajectories while the “X” pattern cable routing allows variable assistance application for these trajectories. We also conducted a biomechanical analysis in OpenSim to map assistive cable force to effective lumbar torque assistance for a given trajectory, allowing for intuitive controller design in the lumbar joint space over the complex kinematic chain for varying lifting techniques. Human subject experiments illustrated that the ABX reduced lumbar erector spinae muscle activation during symmetric and asymmetric lifting by an average of 37.8% and 16.0%, respectively, compared to lifting without the exosuit. This result indicates the potential for our device to reduce lumbar injury risk.

User Selection for Federated Learning in a Wireless Environment: A Process to Minimize the Negative Effect of Training Data Correlation and Improve Performance This article describes our study about federated learning by using the front view-based training process in autonomous driving as an example. The overlap of camera views among users creates training data correlation. It is shown that this correlation undermines the optimization performance of the federated learning process. To reduce the negative effect of correlation within training data while limiting wireless channel resource utilization, a federated learning protocol with user selection is proposed. The protocol selects a limited number of users with sufficient spatial separation in each round of federated learning. An exclusion zone is applied to maintain separation during user selection. Experimental results show that in an example deployment scenario with a user density of 0.05, applying a discrete exclusion zone (DEZ) to prevent selecting the first three nearest users and applying a geographical exclusion zone (DEZ) to avoid selecting users within 70 m have equivalent effects on reducing training data. Furthermore, both methods can provide the performance of five-user federated learning approaches, an ideal case without correlation in the training data.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Ethical Considerations Of Applying Robots In Kindergarten Settings: Towards An Approach From A Macroperspective In child-robot interaction (cHRI) research, many studies pursue the goal to develop interactive systems that can be applied in everyday settings. For early education, increasingly, the setting of a kindergarten is targeted. However, when cHRI and research are brought into a kindergarten, a range of ethical and related procedural aspects have to be considered and dealt with. While ethical models elaborated within other human-robot interaction settings, e.g., assisted living contexts, can provide some important indicators for relevant issues, we argue that it is important to start developing a systematic approach to identify and tackle those ethical issues which rise with cHRI in kindergarten settings on a more global level and address the impact of the technology from a macroperspective beyond the effects on the individual. Based on our experience in conducting studies with children in general and pedagogical considerations on the role of the institution of kindergarten in specific, in this paper, we enfold some relevant aspects that have barely been addressed in an explicit way in current cHRI research. Four areas are analyzed and key ethical issues are identified in each area: (1) the institutional setting of a kindergarten, (2) children as a vulnerable group, (3) the caregivers' role, and (4) pedagogical concepts. With our considerations, we aim at (i) broadening the methodology of the current studies within the area of cHRI, (ii) revalidate it based on our comprehensive empirical experience with research in kindergarten settings, both laboratory and real-world contexts, and (iii) provide a framework for the development of a more systematic approach to address the ethical issues in cHRI research within kindergarten settings.

Multi-Seed Group Labeling in RFID Systems Ever-increasing research efforts have been dedicated to radio frequency identification (RFID) systems, such as finding top-k, elephant groups, and missing-tag detection. While group labeling, which is how to tell tags their associated group data, is the common prerequisite in many RFID applications, its efficiency is not well optimized due to the transmission of useless data with only one seed used. In this paper, we introduce a unified protocol called GLMS which employs multiple seeds to construct a composite indicator vector (CIV), reducing the useless transmission. Technically, to address Seed Assignment Problem (SAP) arising during building CIV, we develop an approximation algorithm (AA) with a competitive ratio 0.632 by globally searching for the seed contributing to the most useful slot. We then further design two simplified algorithms through local searching, namely c-search-I and its enhanced version c-search-II, reducing the complexity by one order of magnitude while achieving comparable performance. We conduct extensive simulations to demonstrate the superiority of our approaches.

Revisiting unknown RFID tag identification in large-scale internet of things. RFID is a major prerequisite for the IoT, which connects physical objects with the Internet. Unknown tag identification is a fundamental problem in large-scale IoT systems, such as automatic stock management and object tracking. Recently, several protocols have been proposed to discern unknown tags. In this article, we overview the underlying mechanism of previous protocols, and pinpoint the challenging issues together with possible solutions. Then we propose a scheme using a Bloom filter that significantly reduces the data transmission during the identification process. We further present the preliminary results to illuminate the Bloom-filter- based architecture.

Efficient and Reliable Missing Tag Identification for Large-Scale RFID Systems With Unknown Tags. Radio frequency identification (RFID), which promotes the rapid development of Internet of Things (IoT), has been an emerging technology and widely deployed in various applications such as warehouse management, supply chain management, and social networks. In such applications, objects can be efficiently managed by attaching them with low-cost RFID tags and carefully monitoring them. The missing o...

Efficient Unknown Tag Detection in Large-Scale RFID Systems With Unreliable Channels. One of the most important applications of radio frequency identification (RFID) technology is to detect unknown tags brought by new tagged items, misplacement, or counterfeit tags. While unknown tag identification is able to pinpoint all the unknown tags, probabilistic unknown tag detection is preferred in large-scale RFID systems that need to be frequently checked up, e.g., real-time inventory mo...

On Efficient Tree-Based Tag Search in Large-Scale RFID Systems Tag search, which is to find a particular set of tags in a radio frequency identification (RFID) system, is a key service in such important Internet-of-Things applications as inventory management. When the system scale is large with a massive number of tags, deterministic search can be prohibitively expensive, and probabilistic search has been advocated, seeking a balance between reliability and time efficiency. Given a failure probability <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\frac {1}{\mathcal {O}(K)}$ </tex-math></inline-formula> , where <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$K$ </tex-math></inline-formula> is the number of tags, state-of-the-art solutions have achieved a time cost of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal {O}(K \log K)$ </tex-math></inline-formula> through multi-round hashing and verification. Further improvement, however, faces a critical bottleneck of repetitively verifying each individual target tag in each round. In this paper, we present an efficient tree-based tag search (TTS) that approaches <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\mathcal {O}(K)$ </tex-math></inline-formula> through batched verification. The key novelty of TTS is to smartly hash multiple tags into each internal tree node and adaptively control the node degrees. It conducts bottom–up search to verify tags group by group with the number of groups decreasing rapidly. Furthermore, we design an enhanced tag search scheme, referred to as TTS+, to overcome the negative impact of asymmetric tag set sizes on time efficiency of TTS. TTS+ first rules out partial ineligible tags with a filtering vector and feeds the shrunk tag sets into TTS. We derive the optimal hash code length and node degrees in TTS to accommodate hash collisions and the optimal filtering vector size to minimize the time cost of TTS+. The superiority of TTS and TTS+ over the state-of-the-art solution is demonstrated through both theoretical analysis and extensive simulations. Specifically, as reliability demand on scales, the time efficiency of TTS+ reaches nearly 2 times at most that of TTS.

Efficiently and Completely Identifying Missing Key Tags for Anonymous RFID Systems. Radio frequency identification (RFID) systems can be applied to efficiently identify the missing items by attaching them with tags. Prior missing tag identification protocols concentrated on identifying all of the tags. However, there may be some scenarios in which we just care about the key tags instead of all tags, making it inefficient to merely identify the missing key tags due to the interfer...

Identification-free batch authentication for RFID tags Cardinality estimation and tag authentication are two major issues in large-scale Radio Frequency Identification (RFID) systems. While there exist both per-tag and probabilistic approaches for the cardinality estimation, the RFID-oriented authentication protocols are mainly per-tag based: the reader authenticates one tag at each time. For a batch of tags, current RFID systems have to identify them and then authenticate each tag sequentially, incurring large volume of authentication data and huge communication cost. We study the RFID batch authentication issue and propose the first probabilistic approach, termed as Single Echo based Batch Authentication (SEBA), to meet the requirement of prompt and reliable batch authentications in large scale RFID applications, e.g., the anti-counterfeiting solution. Without the need of identifying tags, SEBA provides a provable probabilistic guarantee that the percentage of potential counterfeit products is under the user-defined threshold. The experimental result demonstrates the effectiveness of SEBA in fast batch authentications and significant improvement compared to existing approaches.

A survey on sensor networks The advancement in wireless communications and electronics has enabled the development of low-cost sensor networks. The sensor networks can be used for various application areas (e.g., health, military, home). For different application areas, there are different technical issues that researchers are currently resolving. The current state of the art of sensor networks is captured in this article, where solutions are discussed under their related protocol stack layer sections. This article also points out the open research issues and intends to spark new interests and developments in this field.

Energy-Aware Task Offloading and Resource Allocation for Time-Sensitive Services in Mobile Edge Computing Systems Mobile Edge Computing (MEC) is a promising architecture to reduce the energy consumption of mobile devices and provide satisfactory quality-of-service to time-sensitive services. How to jointly optimize task offloading and resource allocation to minimize the energy consumption subject to the latency requirement remains an open problem, which motivates this paper. When the latency constraint is tak...

On signatures of knowledge In a traditional signature scheme, a signature σ on a message m is issued under a public key PK, and can be interpreted as follows: “The owner of the public key PK and its corresponding secret key has signed message m.” In this paper we consider schemes that allow one to issue signatures on behalf of any NP statement, that can be interpreted as follows: “A person in possession of a witness w to the statement that x ∈L has signed message m.” We refer to such schemes as signatures of knowledge. We formally define the notion of a signature of knowledge. We begin by extending the traditional definition of digital signature schemes, captured by Canetti's ideal signing functionality, to the case of signatures of knowledge. We then give an alternative definition in terms of games that also seems to capture the necessary properties one may expect from a signature of knowledge. We then gain additional confidence in our two definitions by proving them equivalent. We construct signatures of knowledge under standard complexity assumptions in the common-random-string model. We then extend our definition to allow signatures of knowledge to be nested i.e., a signature of knowledge (or another accepting input to a UC-realizable ideal functionality) can itself serve as a witness for another signature of knowledge. Thus, as a corollary, we obtain the first delegatable anonymous credential system, i.e., a system in which one can use one's anonymous credentials as a secret key for issuing anonymous credentials to others.

An evaluation of direct attacks using fake fingers generated from ISO templates This work reports a vulnerability evaluation of a highly competitive ISO matcher to direct attacks carried out with fake fingers generated from ISO templates. Experiments are carried out on a fingerprint database acquired in a real-life scenario and show that the evaluated system is highly vulnerable to the proposed attack scheme, granting access in over 75% of the attempts (for a high-security operating point). Thus, the study disproves the popular belief of minutiae templates non-reversibility and raises a key vulnerability issue in the use of non-encrypted standard templates. (This article is an extended version of Galbally et al., 2008, which was awarded with the IBM Best Student Paper Award in the track of Biometrics at ICPR 2008).

A Framework of Joint Mobile Energy Replenishment and Data Gathering in Wireless Rechargeable Sensor Networks Recent years have witnessed the rapid development and proliferation of techniques on improving energy efficiency for wireless sensor networks. Although these techniques can relieve the energy constraint on wireless sensors to some extent, the lifetime of wireless sensor networks is still limited by sensor batteries. Recent studies have shown that energy rechargeable sensors have the potential to provide perpetual network operations by capturing renewable energy from external environments. However, the low output of energy capturing devices can only provide intermittent recharging opportunities to support low-rate data services due to spatial-temporal, geographical or environmental factors. To provide steady and high recharging rates and achieve energy efficient data gathering from sensors, in this paper, we propose to utilize mobility for joint energy replenishment and data gathering. In particular, a multi-functional mobile entity, called SenCarin this paper, is employed, which serves not only as a mobile data collector that roams over the field to gather data via short-range communication but also as an energy transporter that charges static sensors on its migration tour via wireless energy transmissions. Taking advantages of SenCar's controlled mobility, we focus on the joint optimization of effective energy charging and high-performance data collections. We first study this problem in general networks with random topologies. We give a two-step approach for the joint design. In the first step, the locations of a subset of sensors are periodically selected as anchor points, where the SenCar will sequentially visit to charge the sensors at these locations and gather data from nearby sensors in a multi-hop fashion. To achieve a desirable balance between energy replenishment amount and data gathering latency, we provide a selection algorithm to search for a maximum number of anchor points where sensors hold the least battery energy, and meanwhile by visiting them, - he tour length of the SenCar is no more than a threshold. In the second step, we consider data gathering performance when the SenCar migrates among these anchor points. We formulate the problem into a network utility maximization problem and propose a distributed algorithm to adjust data rates at which sensors send buffered data to the SenCar, link scheduling and flow routing so as to adapt to the up-to-date energy replenishing status of sensors. Besides general networks, we also study a special scenario where sensors are regularly deployed. For this case we can provide a simplified solution of lower complexity by exploiting the symmetry of the topology. Finally, we validate the effectiveness of our approaches by extensive numerical results, which show that our solutions can achieve perpetual network operations and provide high network utility.

An indoor localization solution using Bluetooth RSSI and multiple sensors on a smartphone. In this paper, we propose an indoor positioning system using a Bluetooth receiver, an accelerometer, a magnetic field sensor, and a barometer on a smartphone. The Bluetooth receiver is used to estimate distances from beacons. The accelerometer and magnetic field sensor are used to trace the movement of moving people in the given space. The horizontal location of the person is determined by received signal strength indications (RSSIs) and the traced movement. The barometer is used to measure the vertical position where a person is located. By combining RSSIs, the traced movement, and the vertical position, the proposed system estimates the indoor position of moving people. In experiments, the proposed approach showed excellent performance in localization with an overall error of 4.8%.

A Hierarchical Architecture Using Biased Min-Consensus for USV Path Planning This paper proposes a hierarchical architecture using the biased min-consensus (BMC) method, to solve the path planning problem of unmanned surface vessel (USV). We take the fixed-point monitoring mission as an example, where a series of intermediate monitoring points should be visited once by USV. The whole framework incorporates the low-level layer planning the standard path between any two intermediate points, and the high-level fashion determining their visiting sequence. First, the optimal standard path in terms of voyage time and risk measure is planned by the BMC protocol, given that the corresponding graph is constructed with node state and edge weight. The USV will avoid obstacles or keep a certain distance safely, and arrive at the target point quickly. It is proven theoretically that the state of the graph will converge to be stable after finite iterations, i.e., the optimal solution can be found by BMC with low calculation complexity. Second, by incorporating the constraint of intermediate points, their visiting sequence is optimized by BMC again with the reconstruction of a new virtual graph based on the former planned results. The extensive simulation results in various scenarios also validate the feasibility and effectiveness of our method for autonomous navigation.

Cognitive Capacity Harvesting Networks: Architectural Evolution Toward Future Cognitive Radio Networks. Cognitive radio technologies enable users to opportunistically access unused licensed spectrum and are viewed as a promising way to deal with the current spectrum crisis. Over the last 15 years, cognitive radio technologies have been extensively studied from algorithmic design to practical implementation. One pressing and fundamental problem is how to integrate cognitive radios into current wirele...

IoT-U: Cellular Internet-of-Things Networks Over Unlicensed Spectrum. In this paper, we consider an uplink cellular Internet-of-Things (IoT) network, where a cellular user (CU) can serve as the mobile data aggregator for a cluster of IoT devices. To be specific, the IoT devices can either transmit the sensory data to the base station (BS) directly by cellular communications, or first aggregate the data to a CU through machine-to-machine (M2M) communications before t...

Asymptotically Optimal Resource Block Allocation With Limited Feedback. Consider a channel allocation problem over a frequency-selective channel. There are <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$K$</tex-math></inline-formula> channels (frequency bands) and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$N$</tex-math></inline-formula> users such that <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$K=bN$</tex-math></inline-formula> for some positive integer <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$b$</tex-math></inline-formula> . We want to allocate <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$b$</tex-math></inline-formula> channels (or resource blocks) to each user. Due to the nature of the frequency-selective channel, each user considers some channels to be better than others. The optimal solution to this resource allocation problem can be computed using the Hungarian algorithm. However, this requires knowledge of the numerical value of all the channel gains, which makes this approach impractical for large networks. We suggest a suboptimal approach that only requires knowing what the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$M$</tex-math></inline-formula> -best channels of each user are. We find the minimal value of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$M$</tex-math></inline-formula> such that there exists an allocation where all the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$b$</tex-math></inline-formula> channels each user gets are among his <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$M$</tex-math></inline-formula> -best. This leads to the feedback of significantly less than one bit per user per channel. For a large class of fading distributions, including Rayleigh, Rician, m-Nakagami, and others, this suboptimal approach leads to both an asymptotically (in <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$K$</tex-math></inline-formula> ) optimal sum rate and an asymptotically optimal minimal rate. Our non-opportunistic approach achieves (asymptotically) full multiuser diversity as well as optimal fairness in contrast to all other limited feedback algorithms.

Smart Cities on Wheels: A Newly Emerging Vehicular Cognitive Capability Harvesting Network for Data Transportation. With the emergence of IoT and smart cities, wireless data traffic is exponentially increasing, motivating telecom operators to search for new solutions. In this article, we propose a solution based on the premise that vehicles are equipped with CR routers, specially designed powerful devices with agile communication interfaces, rich computing resources, and abundant storage space. To fully exploit...

Market-Based Model in CR-IoT: A Q-Probabilistic Multi-Agent Reinforcement Learning Approach The ever-increasing urban population and the corresponding material demands have brought unprecedented burdens to cities. To guarantee better QoS for citizens, smart cities leverage emerging technologies such as the Cognitive Radio Internet of Things (CR-IoT). However, resource allocation is a great challenge for CR-IoT, mainly because of the extremely numerous devices and users. Generally, the auction theory and game theory are applied to overcome the challenge. In this paper, we propose a multi-agent reinforcement learning (MARL) algorithm to learn the optimal resource allocation strategy in the oligopoly market model. Firstly, we model a multi-agent scenario with the primary users (PUs) as sellers and secondary users (SUs) as buyers. Then, we propose the Q-probabilistic multi-agent learning (QPML) and apply it to allocate resources in the market. In the multi-agent learning process, the PUs and SUs learn strategies to maximize their benefits and improve spectrum utilization. The performance of QPML is compared with Learning Automation (LA) through simulations. The experimental results show that our approach outperforms other approaches and performs well.

Energy Minimization of Multi-cell Cognitive Capacity Harvesting Networks with Neighbor Resource Sharing In this paper, we investigate the energy minimization problem for a cognitive capacity harvesting network (CCHN), where secondary users (SUs) without cognitive radio (CR) capability communicate with CR routers via device-to-device (D2D) transmissions, and CR routers connect with base stations (BSs) via CR links. Different from traditional D2D networks that D2D transmissions share the resource of c...

Wireless sensor networks: a survey This paper describes the concept of sensor networks which has been made viable by the convergence of micro-electro-mechanical systems technology, wireless communications and digital electronics. First, the sensing tasks and the potential sensor networks applications are explored, and a review of factors influencing the design of sensor networks is provided. Then, the communication architecture for sensor networks is outlined, and the algorithms and protocols developed for each layer in the literature are explored. Open research issues for the realization of sensor networks are also discussed.

ImageNet Classification with Deep Convolutional Neural Networks. We trained a large, deep convolutional neural network to classify the 1.2 million high-resolution images in the ImageNet LSVRC-2010 contest into the 1000 different classes. On the test data, we achieved top-1 and top-5 error rates of 37.5% and 17.0%, respectively, which is considerably better than the previous state-of-the-art. The neural network, which has 60 million parameters and 650,000 neurons, consists of five convolutional layers, some of which are followed by max-pooling layers, and three fully connected layers with a final 1000-way softmax. To make training faster, we used non-saturating neurons and a very efficient GPU implementation of the convolution operation. To reduce overfitting in the fully connected layers we employed a recently developed regularization method called \"dropout\" that proved to be very effective. We also entered a variant of this model in the ILSVRC-2012 competition and achieved a winning top-5 test error rate of 15.3%, compared to 26.2% achieved by the second-best entry.

The Whale Optimization Algorithm. The Whale Optimization Algorithm inspired by humpback whales is proposed.The WOA algorithm is benchmarked on 29 well-known test functions.The results on the unimodal functions show the superior exploitation of WOA.The exploration ability of WOA is confirmed by the results on multimodal functions.The results on structural design problems confirm the performance of WOA in practice. This paper proposes a novel nature-inspired meta-heuristic optimization algorithm, called Whale Optimization Algorithm (WOA), which mimics the social behavior of humpback whales. The algorithm is inspired by the bubble-net hunting strategy. WOA is tested with 29 mathematical optimization problems and 6 structural design problems. Optimization results prove that the WOA algorithm is very competitive compared to the state-of-art meta-heuristic algorithms as well as conventional methods. The source codes of the WOA algorithm are publicly available at http://www.alimirjalili.com/WOA.html

Collaborative privacy management The landscape of the World Wide Web with all its versatile services heavily relies on the disclosure of private user information. Unfortunately, the growing amount of personal data collected by service providers poses a significant privacy threat for Internet users. Targeting growing privacy concerns of users, privacy-enhancing technologies emerged. One goal of these technologies is the provision of tools that facilitate a more informative decision about personal data disclosures. A famous PET representative is the PRIME project that aims for a holistic privacy-enhancing identity management system. However, approaches like the PRIME privacy architecture require service providers to change their server infrastructure and add specific privacy-enhancing components. In the near future, service providers are not expected to alter internal processes. Addressing the dependency on service providers, this paper introduces a user-centric privacy architecture that enables the provider-independent protection of personal data. A central component of the proposed privacy infrastructure is an online privacy community, which facilitates the open exchange of privacy-related information about service providers. We characterize the benefits and the potentials of our proposed solution and evaluate a prototypical implementation.

Data-Driven Intelligent Transportation Systems: A Survey For the last two decades, intelligent transportation systems (ITS) have emerged as an efficient way of improving the performance of transportation systems, enhancing travel security, and providing more choices to travelers. A significant change in ITS in recent years is that much more data are collected from a variety of sources and can be processed into various forms for different stakeholders. The availability of a large amount of data can potentially lead to a revolution in ITS development, changing an ITS from a conventional technology-driven system into a more powerful multifunctional data-driven intelligent transportation system (D2ITS) : a system that is vision, multisource, and learning algorithm driven to optimize its performance. Furthermore, D2ITS is trending to become a privacy-aware people-centric more intelligent system. In this paper, we provide a survey on the development of D2ITS, discussing the functionality of its key components and some deployment issues associated with D2ITS Future research directions for the development of D2ITS is also presented.

Online Prediction of Driver Distraction Based on Brain Activity Patterns This paper presents a new computational framework for early detection of driver distractions (map viewing) using brain activity measured by electroencephalographic (EEG) signals. Compared with most studies in the literature, which are mainly focused on the classification of distracted and nondistracted periods, this study proposes a new framework to prospectively predict the start and end of a distraction period, defined by map viewing. The proposed prediction algorithm was tested on a data set of continuous EEG signals recorded from 24 subjects. During the EEG recordings, the subjects were asked to drive from an initial position to a destination using a city map in a simulated driving environment. The overall accuracy values for the prediction of the start and the end of map viewing were 81% and 70%, respectively. The experimental results demonstrated that the proposed algorithm can predict the start and end of map viewing with relatively high accuracy and can be generalized to individual subjects. The outcome of this study has a high potential to improve the design of future intelligent navigation systems. Prediction of the start of map viewing can be used to provide route information based on a driver's needs and consequently avoid map-viewing activities. Prediction of the end of map viewing can be used to provide warnings for potential long map-viewing durations. Further development of the proposed framework and its applications in driver-distraction predictions are also discussed.

Adaptive Fuzzy Control With Prescribed Performance for Block-Triangular-Structured Nonlinear Systems. In this paper, an adaptive fuzzy control method with prescribed performance is proposed for multi-input and multioutput block-triangular-structured nonlinear systems with immeasurable states. Fuzzy logic systems are adopted to identify the unknown nonlinear system functions. Adaptive fuzzy state observers are designed to solve the problem of unmeasured states, and a new observer-based output-feedb...

Learning Feature Recovery Transformer for Occluded Person Re-Identification One major issue that challenges person re-identification (Re-ID) is the ubiquitous occlusion over the captured persons. There are two main challenges for the occluded person Re-ID problem, i.e., the interference of noise during feature matching and the loss of pedestrian information brought by the occlusions. In this paper, we propose a new approach called Feature Recovery Transformer (FRT) to address the two challenges simultaneously, which mainly consists of visibility graph matching and feature recovery transformer. To reduce the interference of the noise during feature matching, we mainly focus on visible regions that appear in both images and develop a visibility graph to calculate the similarity. In terms of the second challenge, based on the developed graph similarity, for each query image, we propose a recovery transformer that exploits the feature sets of its k-nearest neighbors in the gallery to recover the complete features. Extensive experiments across different person Re-ID datasets, including occluded, partial and holistic datasets, demonstrate the effectiveness of FRT. Specifically, FRT significantly outperforms state-of-the-art results by at least 6.2% Rank- 1 accuracy and 7.2% mAP scores on the challenging Occluded-Duke dataset.

Evaluating the On-Demand Mobile Charging in Wireless Sensor Networks Recently, adopting mobile energy chargers to replenish the energy supply of sensor nodes in wireless sensor networks has gained increasing attention from the research community. Different from energy harvesting systems, the utilization of mobile energy chargers is able to provide more reliable energy supply than the dynamic energy harvested from the surrounding environment. While pioneering works on the mobile recharging problem mainly focus on the optimal offline path planning for the mobile chargers, in this work, we aim to lay the theoretical foundation for the on-demand mobile charging problem, where individual sensor nodes request charging from the mobile charger when their energy runs low. Specifically, in this work we analyze the On-Demand Mobile Charging (DMC) problem using a simple but efficient Nearest-Job-Next with Preemption (NJNP) discipline for the mobile charger, and provide analytical results on the system throughput and charging latency from the perspectives of the mobile charger and individual sensor nodes, respectively. To demonstrate how the actual system design can benefit from our analytical results, we present two examples on determining the essential system parameters such as the optimal remaining energy level for individual sensor nodes to send out their recharging requests and the minimal energy capacity required for the mobile charger. Through extensive simulation with real-world system settings, we verify that our analytical results match the simulation results well and the system designs based on our analysis are effective.

P2S: A Primary and Passer-By Scheduling Algorithm for On-Demand Charging Architecture in Wireless Rechargeable Sensor Networks. As the interdiscipline of wireless communication and control engineering, the cooperative charging issue in wireless rechargeable sensor networks (WRSNs) is a popular research problem. With the help of wireless power transfer technology, electrical energy can be transferred from wireless charging vehicles to sensors, providing a new paradigm to prolong the network lifetime. However, existing techn...

Joint Charging Tour Planning and Depot Positioning for Wireless Sensor Networks Using Mobile Chargers. Recent breakthrough in wireless energy transfer technology has enabled wireless sensor networks (WSNs) to operate with zero-downtime through the use of mobile energy chargers (MCs), that periodically replenish the energy supply of the sensor nodes. Due to the limited battery capacity of the MCs, a significant number of MCs and charging depots are required to guarantee perpetual operations in large...

Low-Cost Collaborative Mobile Charging for Large-Scale Wireless Sensor Networks. In wireless rechargeable sensor networks (WRSNs), prior studies mainly focus on the optimization of power transfer efficiency. In this work, we consider the cost for building and operating WRSNs. In the network, sensor nodes can be charged by mobile chargers, that have limited energy which is used for charging and moving. We introduce a novel concept called shuttling and introduce an optimal charging algorithm, which is proven to achieve the minimum number of chargers in theory. We also point out the limitations of the optimal algorithm, which motivates the development of solutions named Push-Shuttle-Back (PSB). We formally prove that PSB achieves the minimum number of chargers and the optimal shuttling distance in a 1D scenario with negligible energy loss. When the loss in wireless charging is non-negligible, we propose to exploit detachable battery pack (DBP) and propose a DBP-PSB algorithm to avoid energy loss. We further extend the solution to 2D scenarios and introduce a new circle-based shortcutting scheme that improves charging efficiency and reduces the number of chargers needed to serve the sensor network. We carry out extensive simulations to demonstrate the performance of the proposed algorithms, and the results show the proposed algorithms achieve a low overall cost.

Dynamic Charging Scheme Problem With Actor–Critic Reinforcement Learning The energy problem is one of the most important challenges in the application of sensor networks. With the development of wireless charging technology and intelligent mobile charger (MC), the energy problem can be solved by the wireless charging strategy. In the practical application of wireless rechargeable sensor networks (WRSNs), the energy consumption rate of nodes is dynamically changed due to many uncertainties, such as the death and different transmission tasks of sensor nodes. However, existing works focus on on-demand schemes, which not fully consider real-time global charging scheduling. In this article, a novel dynamic charging scheme (DCS) in WRSN based on the actor-critic reinforcement learning (ACRL) algorithm is proposed. In the ACRL, we introduce gated recurrent units (GRUs) to capture the relationships of charging actions in time sequence. Using the actor network with one GRU layer, we can pick up an optimal or near-optimal sensor node from candidates as the next charging target more quickly and speed up the training of the model. Meanwhile, we take the tour length and the number of dead nodes as the reward signal. Actor and critic networks are updated by the error criterion function of R and V. Compared with current on-demand charging scheduling algorithms, extensive simulations show that the proposed ACRL algorithm surpasses heuristic algorithms, such as the Greedy, DP, nearest job next with preemption, and TSCA in the average lifetime and tour length, especially against the size and complexity increasing of WRSNs.

Energy efficient clustering and routing algorithms for wireless sensor networks: Particle swarm optimization approach. Energy efficient clustering and routing are two well known optimization problems which have been studied widely to extend lifetime of wireless sensor networks (WSNs). This paper presents Linear/Nonlinear Programming (LP/NLP) formulations of these problems followed by two proposed algorithms for the same based on particle swarm optimization (PSO). The routing algorithm is developed with an efficient particle encoding scheme and multi-objective fitness function. The clustering algorithm is presented by considering energy conservation of the nodes through load balancing. The proposed algorithms are experimented extensively and the results are compared with the existing algorithms to demonstrate their superiority in terms of network life, energy consumption, dead sensor nodes and delivery of total data packets to the base station.

A Grid-Based Joint Routing and Charging Algorithm for Industrial Wireless Rechargeable Sensor Networks Wireless charging techniques provide a more flexible and promising way to solve the energy constraint problem in industrial wireless rechargeable sensor networks (IWRSNs). Although considerable research has been done on wireless charging algorithms, most of it only focuses on passively replenishing nodes having insufficient energy. In this paper, we propose a grid-based joint routing and charging algorithm for IWRSNs to solve the charging problem in a proactive way. On the one hand, a new routing protocol is designed according to charging characteristics of the charger to achieve local energy balance. On the other hand, different charging times are allocated at different charging points on the basis of energy consumption caused by the routing process to achieve global energy balance. Simulation results verify superiority of our proposed algorithm in solving the balancing energy problem and improving survival rates of nodes.

Sensing, Computing, and Communications for Energy Harvesting IoTs: A Survey With the growing number of deployments of Internet of Things (IoT) infrastructure for a wide variety of applications, the battery maintenance has become a major limitation for the sustainability of such infrastructure. To overcome this problem, energy harvesting offers a viable alternative to autonomously power IoT devices, resulting in a number of battery-less energy harvesting IoTs (or EH-IoTs) ...

Tuft: Tree Based Heuristic Data Dissemination for Mobile Sink Wireless Sensor Networks Wireless sensor networks (WSNs) with a static sink suffer from concentrated data traffic in the vicinity of the sink, which increases the burden on the nodes surrounding the sink, and impels them to deplete their batteries faster than other nodes in the network. Mobile sinks solve this corollary by providing a more balanced traffic dispersion, by shifting the traffic concentration with the mobilit...

Load Scheduling and Dispatch for Aggregators of Plug-In Electric Vehicles This paper proposes an operating framework for aggregators of plug-in electric vehicles (PEVs). First, a minimum-cost load scheduling algorithm is designed, which determines the purchase of energy in the day-ahead market based on the forecast electricity price and PEV power demands. The same algorithm is applicable for negotiating bilateral contracts. Second, a dynamic dispatch algorithm is developed, used for distributing the purchased energy to PEVs on the operating day. Simulation results are used to evaluate the proposed algorithms, and to demonstrate the potential impact of an aggregated PEV fleet on the power system.

Noninterference for a Practical DIFC-Based Operating System The Flume system is an implementation of decentralized information flow control (DIFC) at the operating system level. Prior work has shown Flume can be implemented as a practical extension to the Linux operating system, allowing real Web applications to achieve useful security guarantees. However, the question remains if the Flume system is actually secure. This paper compares Flume with other recent DIFC systems like Asbestos, arguing that the latter is inherently susceptible to certain wide-bandwidth covert channels, and proving their absence in Flume by means of a noninterference proof in the communicating sequential processes formalism.

Progressor: social navigation support through open social student modeling The increased volumes of online learning content have produced two problems: how to help students to find the most appropriate resources and how to engage them in using these resources. Personalized and social learning have been suggested as potential ways to address these problems. Our work presented in this paper combines the ideas of personalized and social learning in the context of educational hypermedia. We introduce Progressor, an innovative Web-based tool based on the concepts of social navigation and open student modeling that helps students to find the most relevant resources in a large collection of parameterized self-assessment questions on Java programming. We have evaluated Progressor in a semester-long classroom study, the results of which are presented in this paper. The study confirmed the impact of personalized social navigation support provided by the system in the target context. The interface encouraged students to explore more topics attempting more questions and achieving higher success rates in answering them. A deeper analysis of the social navigation support mechanism revealed that the top students successfully led the way to discovering most relevant resources by creating clear pathways for weaker students.

Embedding Structured Contour and Location Prior in Siamesed Fully Convolutional Networks for Road Detection. Road detection from the perspective of moving vehicles is a challenging issue in autonomous driving. Recently, many deep learning methods spring up for this task, because they can extract high-level local features to find road regions from raw RGB data, such as convolutional neural networks and fully convolutional networks (FCNs). However, how to detect the boundary of road accurately is still an ...

Learning Interpretable Deep State Space Model for Probabilistic Time Series Forecasting. Probabilistic time series forecasting involves estimating the distribution of future based on its history, which is essential for risk management in downstream decision-making. We propose a deep state space model for probabilistic time series forecasting whereby the non-linear emission model and transition model are parameterized by networks and the dependency is modeled by recurrent neural nets. We take the automatic relevance determination (ARD) view and devise a network to exploit the exogenous variables in addition to time series. In particular, our ARD network can incorporate the uncertainty of the exogenous variables and eventually helps identify useful exogenous variables and suppress those irrelevant for forecasting. The distribution of multi-step ahead forecasts are approximated by Monte Carlo simulation. We show in experiments that our model produces accurate and sharp probabilistic forecasts. The estimated uncertainty of our forecasting also realistically increases over time, in a spontaneous manner.

An efficient partial charging scheme using multiple mobile chargers in wireless rechargeable sensor networks The advent of mobile charging with wireless energy transfer technology has perpetuated the omnipresent wireless rechargeable sensor networks. The existing literature finds that on-demand recharging of the sensor nodes (SNs) can significantly improve the charging performance while using multiple charging vehicles (MCVs) and multi-node charging model. Most of the existing schemes ignore the heterogeneous rate of SNs’ energy consumption, partial charging of the SNs, and joint optimization of multiple network attributes and thus these schemes are deprived from the benefits of prolonging network lifetime to its maximum extent. To this end, this paper addresses all the aforementioned issues and proposes an on-demand multi-node charging scheme for the SNs following a partial charging model. The working of the proposed scheme is twofold. First, charging schedules of the MCVs are generated through optimal halting points by integrating non-dominated sorting genetic algorithm (NSGA-II) and multi-attribute decision making (MADM) approach. Then the charging time at each halting point is decided for the SNs with the help of a partial charging timer. We carry out extensive simulations on the proposed scheme and the results are compared with some existing schemes using various performance metrics. The results confirm the superiority of the proposed scheme over the existing ones.

An Energy-Balanced Joint Routing And Charging Framework In Wireless Rechargeable Sensor Networks For Mobile Multimedia In wireless rechargeable sensor networks for mobile multimedia services, the multi-hop transmission method is often used to reduce the distance of a single hop to save energy. However, the sensor nodes in special locations always carry more forwarding load,which causes energy holes. These sensor nodes in energy hole have the higher energy consumption and the less residual energy, which makes them very fragile and easy to exhaust energy. If a sensor node dies, the structure of the network will be changed and the original function will be affected. In this paper, an energy-balanced joint routing and charging framework is proposed to balance the energy consumption between sensors. By analyzing the network model, the proposed framework is decomposed into a routing strategy and a charging strategy. Considering the impact of the routing structure on sensors energy consumption, the goal of the routing strategy is designed to optimize the routing tree corresponding to the mobile charger staying at each sensor node. Furthermore, the proposed charging strategy prefers the charging path with the best balance of the total energy consumption of sensor nodes during one charging trip. In order to solve these optimization problems, the simulated annealing algorithms, including the proposed random solution generation method and acceptance rules, are used to obtain a fast convergence. The simulation results show that the proposed joint routing and charging framework has better energy balance performance than the traditional scheme.

IoT Elements, Layered Architectures and Security Issues: A Comprehensive Survey. The use of the Internet is growing in this day and age, so another area has developed to use the Internet, called Internet of Things (IoT). It facilitates the machines and objects to communicate, compute and coordinate with each other. It is an enabler for the intelligence affixed to several essential features of the modern world, such as homes, hospitals, buildings, transports and cities. The security and privacy are some of the critical issues related to the wide application of IoT. Therefore, these issues prevent the wide adoption of the IoT. In this paper, we are presenting an overview about different layered architectures of IoT and attacks regarding security from the perspective of layers. In addition, a review of mechanisms that provide solutions to these issues is presented with their limitations. Furthermore, we have suggested a new secure layered architecture of IoT to overcome these issues.

Wireless Sensor Network Design Methodologies: A Survey Wireless sensor networks (WSNs) have grown considerably in recent years and have a significant potential in different applications including health, environment, and military. Despite their powerful capabilities, the successful development of WSN is still a challenging task. In current real-world WSN deployments, several programming approaches have been proposed, which focus on low-level system issues. In order to simplify the design of the WSN and abstract from technical low-level details, high-level approaches have been recognized and several solutions have been proposed. In particular, the model-driven engineering (MDE) approach is becoming a promising solution. In this paper, we present a survey of existing programming methodologies and model-based approaches for the development of sensor networks. We recall and classify existing related WSN development approaches. The main objective of our research is to investigate the feasibility and the application of high-level-based approaches to ease WSN design. We concentrate on a set of criteria to highlight the shortcomings of the relevant approaches. Finally, we present our future directions to cope with the limits of existing solutions.

Optimal Deployment Of Charging Stations For Aerial Surveillance By Uavs With The Assistance Of Public Transportation Vehicles To overcome the limitation in flight time and enable unmanned aerial vehicles (UAVs) to survey remote sites of interest, this paper investigates an approach involving the collaboration with public transportation vehicles (PTVs) and the deployment of charging stations. In particular, the focus of this paper is on the deployment of charging stations. In this approach, a UAV first travels with some PTVs, and then flies through some charging stations to reach remote sites. While the travel time with PTVs can be estimated by the Monte Carlo method to accommodate various uncertainties, we propose a new coverage model to compute the travel time taken for UAVs to reach the sites. With this model, we formulate the optimal deployment problem with the goal of minimising the average travel time of UAVs from the depot to the sites, which can be regarded as a reflection of the quality of surveillance (QoS) (the shorter the better). We then propose an iterative algorithm to place the charging stations. We show that this algorithm ensures that any movement of a charging station leads to a decrease in the average travel time of UAVs. To demonstrate the effectiveness of the proposed method, we make a comparison with a baseline method. The results show that the proposed model can more accurately estimate the travel time than the most commonly used model, and the proposed algorithm can relocate the charging stations to achieve a lower flight distance than the baseline method.

Tag-based cooperative data gathering and energy recharging in wide area RFID sensor networks The Wireless Identification and Sensing Platform (WISP) conjugates the identification potential of the RFID technology and the sensing and computing capability of the wireless sensors. Practical issues, such as the need of periodically recharging WISPs, challenge the effective deployment of large-scale RFID sensor networks (RSNs) consisting of RFID readers and WISP nodes. In this view, the paper proposes cooperative solutions to energize the WISP devices in a wide-area sensing network while reducing the data collection delay. The main novelty is the fact that both data transmissions and energy transfer are based on the RFID technology only: RFID mobile readers gather data from the WISP devices, wirelessly recharge them, and mutually cooperate to reduce the data delivery delay to the sink. Communication between mobile readers relies on two proposed solutions: a tag-based relay scheme, where RFID tags are exploited to temporarily store sensed data at pre-determined contact points between the readers; and a tag-based data channel scheme, where the WISPs are used as a virtual communication channel for real time data transfer between the readers. Both solutions require: (i) clustering the WISP nodes; (ii) dimensioning the number of required RFID mobile readers; (iii) planning the tour of the readers under the energy and time constraints of the nodes. A simulative analysis demonstrates the effectiveness of the proposed solutions when compared to non-cooperative approaches. Differently from classic schemes in the literature, the solutions proposed in this paper better cope with scalability issues, which is of utmost importance for wide area networks.

An Active Mobile Charging and Data Collection Scheme for Clustered Sensor Networks Recent years have witnessed the flourish of new promising technologies to prolong the lifetime of wireless sensor networks (WSNs). Employing mobile vehicles for wireless charging and data collection is able to balance the load of WSNs, and meanwhile, provide a reliable energy replenishment for sustainable network operations. Different from traditional charging scheduling policies where sensor nodes passively wait for the arrival of mobile vehicles, a novel dynamic clustering based mobile-to-cluster (M2C) scheme is proposed to optimize the service process for both sensor nodes and the vehicle in an active way. Requiring only local residual energy information, M2C refreshes the cluster-based network topology to ensure no sensor nodes will run out of energy before getting charged. By estimating the energy consumption of being a cluster head, the sensor nodes with residual energy close to the estimation are actively elected as head nodes. More head nodes with low residual energy will be visited, reducing the travel distance along with higher energy efficiency of charging. Furthermore, the convergence and worst-case performance of M2C are theoretically analyzed. Performance evaluation results show that compared with the state-of-the-art schemes, our design reduces the travel distance and charging latency by about 10% and 50%, respectively.

A Joint Energy Replenishment and Data Collection Algorithm in Wireless Rechargeable Sensor Networks. Energy constraint is a critical issue in the development of wireless sensor networks (WSNs) because sensor nodes are generally powered by batteries. Recently, wireless rechargeable sensor networks (WRSNs), which introduce wireless mobile chargers (MCs) to replenish energy for nodes, have been proposed to resolve the root cause of energy limitations in WSNs. However, existing wireless charging algo...

Optimizing Itinerary Selection and Charging Association for Mobile Chargers. Wireless power transfer provides a promising way to extend the battery lifetime of our energy-hungry rechargeable devices. Previous studies have envisioned using mobile vehicles/robots/drones equipped with high capacity batteries as mobile chargers to replenish those devices, and they mainly focus on maximizing network lifetime, optimizing efficiency of charging scheduling, minimizing total charging delay, etc. However, existing methods may be insufficient and inflexible when the energy consumption of rechargeable devices fluctuates overtime, or when rechargeable devices are sparse. In this paper, we consider how to efficiently provide flexible wireless charging using pre-planned charging itineraries. We present the Itinerary Selection and Charging Association (ISCA) problem: given a set of rechargeable devices and a set of candidate charging itineraries, how can we select itineraries and determine a corresponding charging association to minimize the amount of energy which is due to mobile chargers' movement and wireless charging loss, so that every device gets its required energy. We prove that ISCA is NP-complete by reducing the set cover problem to it. We start solving this problem by first looking at the case in which an itinerary can only be used once, and we propose an algorithm with approximation ratio of O (lnM) and a practical heuristic algorithm, where M is the number of devices. For the general case in which an itinerary may be used multiple times, we propose an approximation algorithm of factor 10 using the Primal-Dual schema. Evaluations results from real field experiments and extensive simulations show that the proposed algorithms have near-optimal performance and PDA reduces the amount of wasted energy by up to 65 percent compared with a set cover-based algorithm.

Federated Learning Over Wireless Networks: Convergence Analysis and Resource Allocation There is an increasing interest in a fast-growing machine learning technique called Federated Learning (FL), in which the model training is distributed over mobile user equipment (UEs), exploiting UEs' local computation and training data. Despite its advantages such as preserving data privacy, FL still has challenges of heterogeneity across UEs' data and physical resources. To address these challenges, we first propose FEDL, a FL algorithm which can handle heterogeneous UE data without further assumptions except strongly convex and smooth loss functions. We provide a convergence rate characterizing the trade-off between local computation rounds of each UE to update its local model and global communication rounds to update the FL global model. We then employ FEDL in wireless networks as a resource allocation optimization problem that captures the trade-off between FEDL convergence wall clock time and energy consumption of UEs with heterogeneous computing and power resources. Even though the wireless resource allocation problem of FEDL is non-convex, we exploit this problem's structure to decompose it into three sub-problems and analyze their closed-form solutions as well as insights into problem design. Finally, we empirically evaluate the convergence of FEDL with PyTorch experiments, and provide extensive numerical results for the wireless resource allocation sub-problems. Experimental results show that FEDL outperforms the vanilla FedAvg algorithm in terms of convergence rate and test accuracy in various settings.

Discovering spatio-temporal causal interactions in traffic data streams The detection of outliers in spatio-temporal traffic data is an important research problem in the data mining and knowledge discovery community. However to the best of our knowledge, the discovery of relationships, especially causal interactions, among detected traffic outliers has not been investigated before. In this paper we propose algorithms which construct outlier causality trees based on temporal and spatial properties of detected outliers. Frequent substructures of these causality trees reveal not only recurring interactions among spatio-temporal outliers, but potential flaws in the design of existing traffic networks. The effectiveness and strength of our algorithms are validated by experiments on a very large volume of real taxi trajectories in an urban road network.

On Resilience of Split-Architecture Networks The split architecture network assumes a logically centralized controller, which is physically separated from a large set of data plane forwarding switches. When the control plane becomes decoupled from the data plane, the requirement to the failure resilience and recovery mechanisms changes. In this work we investigate one of the most important practical issues in split architecture deployment, the placement of controllers in a given network. We first demonstrate that the location of controllers have high impact on the network resilience using a real network topology. Motivated by such observation, we propose a min-cut based controller placement algorithm and compare it with greedy based approach. Our simulation results show significant reliability improvements with an intelligent placement strategy. Our work is the first attempt on the resilience properties of a split architecture network.

Personalized Top-N Sequential Recommendation via Convolutional Sequence Embedding. Top-N sequential recommendation models each user as a sequence of items interacted in the past and aims to predict top-N ranked items that a user will likely interact in a »near future». The order of interaction implies that sequential patterns play an important role where more recent items in a sequence have a larger impact on the next item. In this paper, we propose a Convolutional Sequence Embedding Recommendation Model »Caser» as a solution to address this requirement. The idea is to embed a sequence of recent items into an »image» in the time and latent spaces and learn sequential patterns as local features of the image using convolutional filters. This approach provides a unified and flexible network structure for capturing both general preferences and sequential patterns. The experiments on public data sets demonstrated that Caser consistently outperforms state-of-the-art sequential recommendation methods on a variety of common evaluation metrics.

Human–Machine Interaction in Intelligent and Connected Vehicles: A Review of Status Quo, Issues, and Opportunities Human–Machine Interaction (HMI) in Intelligent and Connected Vehicles (ICVs) has drawn great attention in recent years due to its potentially significant positive impacts on the automotive revolution and travel experience. In this paper, we conduct an in-depth review of HMI in ICVs. Firstly, research and application development status are pointed out through the discussion on the cutting-edge technology classification, achievements, and challenges of the HMI technologies in ICVs, including recognition technology, multi-dimensional human vehicle interface, and emerging in-vehicle intelligent units. Then, the human factors issues of ICVs are discussed from three aspects: ICV acceptance, interaction quality of ICVs, and user experience of ICVs. Besides, based on the interaction technology and the mapping of the above issues, we conducted a visual analysis of the literature to realize the reflective thinking of the current HMI in ICVs. Finally, the challenges of HMI technology in ICVs are summarized. Moreover, the promising future opportunities are proposed from three aspects: utility optimization, experience reconfiguration, and value acquisition, to gaining insight into advanced and pleasant HMI in ICVs.

Neural network approach to continuous-time direct adaptive optimal control for partially unknown nonlinear systems. In this paper we present in a continuous-time framework an online approach to direct adaptive optimal control with infinite horizon cost for nonlinear systems. The algorithm converges online to the optimal control solution without knowledge of the internal system dynamics. Closed-loop dynamic stability is guaranteed throughout. The algorithm is based on a reinforcement learning scheme, namely Policy Iterations, and makes use of neural networks, in an Actor/Critic structure, to parametrically represent the control policy and the performance of the control system. The two neural networks are trained to express the optimal controller and optimal cost function which describes the infinite horizon control performance. Convergence of the algorithm is proven under the realistic assumption that the two neural networks do not provide perfect representations for the nonlinear control and cost functions. The result is a hybrid control structure which involves a continuous-time controller and a supervisory adaptation structure which operates based on data sampled from the plant and from the continuous-time performance dynamics. Such control structure is unlike any standard form of controllers previously seen in the literature. Simulation results, obtained considering two second-order nonlinear systems, are provided.

Asymptotically Stable Adaptive-Optimal Control Algorithm With Saturating Actuators and Relaxed Persistence of Excitation. This paper proposes a control algorithm based on adaptive dynamic programming to solve the infinite-horizon optimal control problem for known deterministic nonlinear systems with saturating actuators and nonquadratic cost functionals. The algorithm is based on an actor/critic framework, where a critic neural network (NN) is used to learn the optimal cost, and an actor NN is used to learn the optim...

A vision-based formation control framework We describe a framework for cooperative control of a group of nonholonomic mobile robots that allows us to build complex systems from simple controllers and estimators. The resultant modular approach is attractive because of the potential for reusability. Our approach to composition also guarantees stability and convergence in a wide range of tasks. There are two key features in our approach: 1) a paradigm for switching between simple decentralized controllers that allows for changes in formation; 2) the use of information from a single type of sensor, an omnidirectional camera, for all our controllers. We describe estimators that abstract the sensory information at different levels, enabling both decentralized and centralized cooperative control. Our results include numerical simulations and experiments using a testbed consisting of three nonholonomic robots.

Fuzzy-approximation-based global adaptive control for uncertain strict-feedback systems with a priori known tracking accuracy In this study, we propose a novel adaptive backstepping fuzzy control scheme for a class of uncertain strict-feedback systems where the tracking accuracy is known a priori, and we also introduce a multiswitching-based adaptive fuzzy controller. Compared with the existing method for adaptive fuzzy control, the advantages of the proposed scheme are as follows. First, the controller guarantees that all the closed-loop signals are globally uniformly ultimately bounded, which differs from most existing adaptive fuzzy control approaches where the semi-global boundedness of the closed-loop signals is ensured under a harsh assumption on the approximation domain of the fuzzy logic system. Second, our controller ensures that the tracking error converges to an accuracy that is given a priori for the uncertain strict-feedback system, which cannot be achieved using existing adaptive fuzzy control methods. Third, based on some nonnegative functions, we analyze the convergence of the tracking error using Barbalat's Lemma. Fourth, the main technical novelty is the construction of three new nth-order continuously differentiable switching functions, which are used to design the desired controller. Finally, three simulation examples are provided that illustrate the effectiveness of the proposed control strategy.

Practical Adaptive Fuzzy Control of Nonlinear Pure-Feedback Systems With Quantized Nonlinearity Input This paper investigates the fuzzy adaptive practical tracking problem for a class of nonlinear pure-feedback systems with quantized input signal. In the control scheme design process, the considered system is transformed into a plant with a strict-feedback form by borrowing the mean value theorem of differential, then fuzzy logic systems are used to compensate for some uncertain nonlinearities in the considered plant and the classical adaptive technique is employed to handle some unknown parameters. In the backstepping design, some non-negative switching functions are introduced to develop the desired fuzzy controller, and Barbalat’s lemma is used to analyze the stability and the control performance of the closed-loop system. It can be shown that under the novel adaptive fuzzy controller, all the closed-loop signals are semiglobally uniformly ultimately bounded, and especially the tracking error satisfies the accuracy assigned <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a priori</italic> . A simulation example is presented to verify the effectiveness of the proposed control method.

Adaptive Optimal Control of Unknown Constrained-Input Systems Using Policy Iteration and Neural Networks This paper presents an online policy iteration (PI) algorithm to learn the continuous-time optimal control solution for unknown constrained-input systems. The proposed PI algorithm is implemented on an actor-critic structure where two neural networks (NNs) are tuned online and simultaneously to generate the optimal bounded control policy. The requirement of complete knowledge of the system dynamics is obviated by employing a novel NN identifier in conjunction with the actor and critic NNs. It is shown how the identifier weights estimation error affects the convergence of the critic NN. A novel learning rule is developed to guarantee that the identifier weights converge to small neighborhoods of their ideal values exponentially fast. To provide an easy-to-check persistence of excitation condition, the experience replay technique is used. That is, recorded past experiences are used simultaneously with current data for the adaptation of the identifier weights. Stability of the whole system consisting of the actor, critic, system state, and system identifier is guaranteed while all three networks undergo adaptation. Convergence to a near-optimal control law is also shown. The effectiveness of the proposed method is illustrated with a simulation example.

Nearly optimal control laws for nonlinear systems with saturating actuators using a neural network HJB approach The Hamilton-Jacobi-Bellman (HJB) equation corresponding to constrained control is formulated using a suitable nonquadratic functional. It is shown that the constrained optimal control law has the largest region of asymptotic stability (RAS). The value function of this HJB equation is solved for by solving for a sequence of cost functions satisfying a sequence of Lyapunov equations (LE). A neural network is used to approximate the cost function associated with each LE using the method of least-squares on a well-defined region of attraction of an initial stabilizing controller. As the order of the neural network is increased, the least-squares solution of the HJB equation converges uniformly to the exact solution of the inherently nonlinear HJB equation associated with the saturating control inputs. The result is a nearly optimal constrained state feedback controller that has been tuned a priori off-line.

Passivity constraints for the impedance control of series elastic actuators. Robots operating in close contact with humans require actuators capable of accurately and safely modulating the delivered torque. To this aim, rotary series elastic actuators are largely adopted. Torque control is often implemented using a cascade control scheme involving proportional-integral regulators (velocity controller nested in a torque controller) for its simplicity and its potential of ensuring coupled stability. A high-level impedance control loop is also commonly added to regulate the interaction with the external agents. In the present work, conservative passivity conditions are derived when a cascade-controlled series elastic actuator is used to haptically display different models of virtual impedance. In particular, the case of a null impedance, of a pure spring and of series and parallel spring-damper systems (corresponding to standard linear viscoelastic bodies) are analyzed in order to derive design guidelines useful for the selection of the control gains as well as for determining the ranges of renderable virtual impedance.

Distributed H ∞ Optimal Tracking Control for Strict-Feedback Nonlinear Large-Scale Systems With Disturbances and Saturating Actuators In this paper, a novel distributed <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${{H}_{ \infty }}$ </tex-math></inline-formula> optimal tracking control scheme is designed for a class of physically interconnected large-scale nonlinear systems in the presence of strict-feedback form, external disturbance and saturating actuators. First, by designing feedforward control, the distributed <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${{H}_{\infty }}$ </tex-math></inline-formula> optimal tracking control problem of a physically interconnected large-scale system is transformed into equivalent control of a decoupled multiagent system. Subsequently, a feedback control algorithm is designed to learn the optimal control input and the worst-case disturbance policy. The algorithm guarantees that the function approximation error and the distributed tracking error are uniformly ultimately bounded while the cost function converges to the bounded <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$ {L}_{{2}}$ </tex-math></inline-formula> -gain optimal value. Finally, the effectiveness of the proposed scheme is demonstrated by simulation results of distributed control for the mobile multirobot system.

Crowd sensing of traffic anomalies based on human mobility and social media The advances in mobile computing and social networking services enable people to probe the dynamics of a city. In this paper, we address the problem of detecting and describing traffic anomalies using crowd sensing with two forms of data, human mobility and social media. Traffic anomalies are caused by accidents, control, protests, sport events, celebrations, disasters and other events. Unlike existing traffic-anomaly-detection methods, we identify anomalies according to drivers' routing behavior on an urban road network. Here, a detected anomaly is represented by a sub-graph of a road network where drivers' routing behaviors significantly differ from their original patterns. We then try to describe the detected anomaly by mining representative terms from the social media that people posted when the anomaly happened. The system for detecting such traffic anomalies can benefit both drivers and transportation authorities, e.g., by notifying drivers approaching an anomaly and suggesting alternative routes, as well as supporting traffic jam diagnosis and dispersal. We evaluate our system with a GPS trajectory dataset generated by over 30,000 taxicabs over a period of 3 months in Beijing, and a dataset of tweets collected from WeiBo, a Twitter-like social site in China. The results demonstrate the effectiveness and efficiency of our system.

Effects of visual appearance on the attribution of applications in social robotics This paper investigates the influence of visual appearance of social robots on judgments about their potential applications. 183 participants rated the appropriateness of thirteen categories of applications for twelve social robots in an online study. The ratings were based on videos displaying the appearance of the robot combined with basic information about the robots' general functions. The results confirmed the hypothesis that the visual appearance of robots is a significant predictor for the estimation of applications in the eye of the beholder. Furthermore, the ratings showed an attractiveness bias: robots being judged as more attractive by the users also received more positive evaluations (i.e., ldquolikingrdquo).

Point-to-point navigation of underactuated ships This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship’s sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately bounded (UUB). A numerical simulation study is also performed to illustrate the effectiveness of the proposed scheme.

Differentially private Naive Bayes learning over multiple data sources. For meeting diverse requirements of data analysis, the machine learning classifier has been provided as a tool to evaluate data in many applications. Due to privacy concerns of preventing disclosing sensitive information, data owners often suppress their data for an untrusted trainer to train a classifier. Some existing work proposed privacy-preserving solutions for learning algorithms, which allow a trainer to build a classifier over the data from a single owner. However, they cannot be directly used in the multi-owner setting where each owner is not totally trusted for each other. In this paper, we propose a novel privacy-preserving Naive Bayes learning scheme with multiple data sources. The proposed scheme enables a trainer to train a Naive Bayes classifier over the dataset provided jointly by different data owners, without the help of a trusted curator. The training result can achieve ϵ-differential privacy while the training will not break the privacy of each owner. We implement the prototype of the scheme and conduct corresponding experiment.

Social Robots for (Second) Language Learning in (Migrant) Primary School Children Especially these days, innovation and support from technology to relieve pressure in education is highly urgent. This study tested the potential advantage of a social robot over a tablet in (second) language learning on performance, engagement, and enjoyment. Shortages in primary education call for new technology solutions. Previous studies combined robots with tablets, to compensate for robot’s limitations, however, this study applied direct human–robot interaction. Primary school children (N = 63, aged 4–6) participated in a 3-wave field experiment with story-telling exercises, either with a semi-autonomous robot (without tablet, using WOz) or a tablet. Results showed increased learning gains over time when training with a social robot, compared to the tablet. Children who trained with a robot were more engaged in the story-telling task and enjoyed it more. Robot’s behavioral style (social or neutral) hardly differed overall, however, seems to vary for high versus low educational abilities. While social robots need sophistication before being implemented in schools, our study shows the potential of social robots as tutors in (second) language learning.

Control of nonlinear systems under dynamic constraints: A unified barrier function-based approach. Although there are fruitful results on adaptive control of constrained parametric/nonparametric strict-feedback nonlinear systems, most of them are contingent upon “feasibility conditions”, and/or are only applicable to constant and symmetric constraints. In this work, we present a robust adaptive control solution free from “feasibility conditions” and capable of accommodating much more general dynamic constraints. In our design, instead of employing the commonly used piecewise Barrier Lyapunov Function (BLF), we build a unified barrier function upon the constrained states, with which we convert the original constrained nonlinear system into an equivalent “non-constrained” one. Then by stabilizing the “unconstrained” system, the asymmetric state constraints imposed dynamically are handled gracefully. By blending a new coordinate transformation into the backstepping design, we develop a control strategy completely obviating the “feasibility conditions” for the system. It is worth noting that the requirement on the constraints to be obeyed herein is much less restrictive as compared to those imposed in most existing methods, rendering the resultant control less demanding in design and more user-friendly in implementation. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.

Adaptive Backstepping Control of Nonlinear Uncertain Systems with Quantized States This paper investigates the stabilization problem for uncertain nonlinear systems with quantized states. All states in the system are quantized by a static bounded quantizer, including uniform quantizer, hysteresis-uniform quantizer, and logarithmic-uniform quantizer as examples. An adaptive backstepping-based control algorithm, which can handle discontinuity, resulted from the state quantization ...

Adaptive Neural Quantized Control for a Class of MIMO Switched Nonlinear Systems With Asymmetric Actuator Dead-Zone. This paper concentrates on the adaptive state-feedback quantized control problem for a class of multiple-input-multiple-output (MIMO) switched nonlinear systems with unknown asymmetric actuator dead-zone. In this study, we employ different quantizers for different subsystem inputs. The main challenge of this study is to deal with the coupling between the quantizers and the dead-zone nonlinearities...

Neural-Network Approximation-Based Adaptive Periodic Event-Triggered Output-Feedback Control of Switched Nonlinear Systems This study considers an adaptive neural-network (NN) periodic event-triggered control (PETC) problem for switched nonlinear systems (SNSs). In the system, only the system output is available at sampling instants. A novel adaptive law and a state observer are constructed by using only the sampled system output. A new output-feedback adaptive NN PETC strategy is developed to reduce the usage of communication resources; it includes a controller that only uses event-sampling information and an event-triggering mechanism (ETM) that is only intermittently monitored at sampling instants. The proposed adaptive NN PETC strategy does not need restrictions on nonlinear functions reported in some previous studies. It is proven that all states of the closed-loop system (CLS) are semiglobally uniformly ultimately bounded (SGUUB) under arbitrary switchings by choosing an allowable sampling period. Finally, the proposed scheme is applied to a continuous stirred tank reactor (CSTR) system and a numerical example to verify its effectiveness.

Adaptive Asymptotic Tracking With Global Performance for Nonlinear Systems With Unknown Control Directions This article presents a global adaptive asymptotic tracking control method, capable of guaranteeing prescribed transient behavior for uncertain strict-feedback nonlinear systems with arbitrary relative degree and unknown control directions. Unlike most existing funnel controls that are built upon time-varying feedback gains, the proposed method is derived from a tracking error-dependent normalized...

Event-Triggered Fuzzy Bipartite Tracking Control for Network Systems Based on Distributed Reduced-Order Observers This article studies the distributed observer-based event-triggered bipartite tracking control problem for stochastic nonlinear multiagent systems with input saturation. First, different from conventional observers, we construct a novel distributed reduced-order observer to estimate unknown states for the stochastic nonlinear systems. Then, an event-triggered mechanism with relative threshold is i...

Hamming Embedding and Weak Geometric Consistency for Large Scale Image Search This paper improves recent methods for large scale image search. State-of-the-art methods build on the bag-of-features image representation. We, first, analyze bag-of-features in the framework of approximate nearest neighbor search. This shows the sub-optimality of such a representation for matching descriptors and leads us to derive a more precise representation based on 1) Hamming embedding (HE) and 2) weak geometric consistency constraints (WGC). HE provides binary signatures that refine the matching based on visual words. WGC filters matching descriptors that are not consistent in terms of angle and scale. HE and WGC are integrated within the inverted file and are efficiently exploited for all images, even in the case of very large datasets. Experiments performed on a dataset of one million of images show a significant improvement due to the binary signature and the weak geometric consistency constraints, as well as their efficiency. Estimation of the full geometric transformation, i.e., a re-ranking step on a short list of images, is complementary to our weak geometric consistency constraints and allows to further improve the accuracy.

Microsoft Coco: Common Objects In Context We present a new dataset with the goal of advancing the state-of-the-art in object recognition by placing the question of object recognition in the context of the broader question of scene understanding. This is achieved by gathering images of complex everyday scenes containing common objects in their natural context. Objects are labeled using per-instance segmentations to aid in precise object localization. Our dataset contains photos of 91 objects types that would be easily recognizable by a 4 year old. With a total of 2.5 million labeled instances in 328k images, the creation of our dataset drew upon extensive crowd worker involvement via novel user interfaces for category detection, instance spotting and instance segmentation. We present a detailed statistical analysis of the dataset in comparison to PASCAL, ImageNet, and SUN. Finally, we provide baseline performance analysis for bounding box and segmentation detection results using a Deformable Parts Model.

The Whale Optimization Algorithm. The Whale Optimization Algorithm inspired by humpback whales is proposed.The WOA algorithm is benchmarked on 29 well-known test functions.The results on the unimodal functions show the superior exploitation of WOA.The exploration ability of WOA is confirmed by the results on multimodal functions.The results on structural design problems confirm the performance of WOA in practice. This paper proposes a novel nature-inspired meta-heuristic optimization algorithm, called Whale Optimization Algorithm (WOA), which mimics the social behavior of humpback whales. The algorithm is inspired by the bubble-net hunting strategy. WOA is tested with 29 mathematical optimization problems and 6 structural design problems. Optimization results prove that the WOA algorithm is very competitive compared to the state-of-art meta-heuristic algorithms as well as conventional methods. The source codes of the WOA algorithm are publicly available at http://www.alimirjalili.com/WOA.html

Collaborative privacy management The landscape of the World Wide Web with all its versatile services heavily relies on the disclosure of private user information. Unfortunately, the growing amount of personal data collected by service providers poses a significant privacy threat for Internet users. Targeting growing privacy concerns of users, privacy-enhancing technologies emerged. One goal of these technologies is the provision of tools that facilitate a more informative decision about personal data disclosures. A famous PET representative is the PRIME project that aims for a holistic privacy-enhancing identity management system. However, approaches like the PRIME privacy architecture require service providers to change their server infrastructure and add specific privacy-enhancing components. In the near future, service providers are not expected to alter internal processes. Addressing the dependency on service providers, this paper introduces a user-centric privacy architecture that enables the provider-independent protection of personal data. A central component of the proposed privacy infrastructure is an online privacy community, which facilitates the open exchange of privacy-related information about service providers. We characterize the benefits and the potentials of our proposed solution and evaluate a prototypical implementation.

On controller initialization in multivariable switching systems We consider a class of switched systems which consists of a linear MIMO and possibly unstable process in feedback interconnection with a multicontroller whose dynamics switch. It is shown how one can achieve significantly better transient performance by selecting the initial condition for every controller when it is inserted into the feedback loop. This initialization is obtained by performing the minimization of a quadratic cost function of the tracking error, controlled output, and control signal. We guarantee input-to-state stability of the closed-loop system when the average number of switches per unit of time is smaller than a specific value. If this is not the case then stability can still be achieved by adding a mild constraint to the optimization. We illustrate the use of our results in the control of a flexible beam actuated in torque. This system is unstable with two poles at the origin and contains several lightly damped modes, which can be easily excited by controller switching.

Completely Pinpointing the Missing RFID Tags in a Time-Efficient Way Radio Frequency Identification (RFID) technology has been widely used in inventory management in many scenarios, e.g., warehouses, retail stores, hospitals, etc. This paper investigates a challenging problem of complete identification of missing tags in large-scale RFID systems. Although this problem has attracted extensive attention from academy and industry, the existing work can hardly satisfy the stringent real-time requirements. In this paper, a Slot Filter-based Missing Tag Identification (SFMTI) protocol is proposed to reconcile some expected collision slots into singleton slots and filter out the expected empty slots as well as the unreconcilable collision slots, thereby achieving the improved time-efficiency. The theoretical analysis is conducted to minimize the execution time of the proposed SFMTI. We then propose a cost-effective method to extend SFMTI to the multi-reader scenarios. The extensive simulation experiments and performance results demonstrate that the proposed SFMTI protocol outperforms the most promising Iterative ID-free Protocol (IIP) by reducing nearly 45% of the required execution time, and is just within a factor of 1.18 from the lower bound of the minimum execution time.

A robust medical image watermarking against salt and pepper noise for brain MRI images. The ever-growing numbers of medical digital images and the need to share them among specialists and hospitals for better and more accurate diagnosis require that patients' privacy be protected. During the transmission of medical images between hospitals or specialists through the network, the main priority is to protect a patient's documents against any act of tampering by unauthorised individuals. Because of this, there is a need for medical image authentication scheme to enable proper diagnosis on patient. In addition, medical images are also susceptible to salt and pepper impulse noise through the transmission in communication channels. This noise may also be intentionally used by the invaders to corrupt the embedded watermarks inside the medical images. A common drawback of existing watermarking methods is their weakness against salt and pepper noise. The research carried out in this work addresses the issue of designing a new watermarking method that can withstand high density of salt and pepper noise for brain MRI images. For this purpose, combination of a spatial domain watermarking method, channel coding and noise filtering schemes are used. The region of non-interest (RONI) of MRI images from five different databases are used as embedding area and electronic patient record (EPR) is considered as embedded data. The quality of watermarked image is evaluated using Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index (SSIM), and the accuracy of the extracted watermark is assessed in terms of Bit Error Rate (BER).

Attitudes Towards Social Robots In Education: Enthusiast, Practical, Troubled, Sceptic, And Mindfully Positive While social robots bring new opportunities for education, they also come with moral challenges. Therefore, there is a need for moral guidelines for the responsible implementation of these robots. When developing such guidelines, it is important to include different stakeholder perspectives. Existing (qualitative) studies regarding these perspectives however mainly focus on single stakeholders. In this exploratory study, we examine and compare the attitudes of multiple stakeholders on the use of social robots in primary education, using a novel questionnaire that covers various aspects of moral issues mentioned in earlier studies. Furthermore, we also group the stakeholders based on similarities in attitudes and examine which socio-demographic characteristics influence these attitude types. Based on the results, we identify five distinct attitude profiles and show that the probability of belonging to a specific profile is affected by such characteristics as stakeholder type, age, education and income. Our results also indicate that social robots have the potential to be implemented in education in a morally responsible way that takes into account the attitudes of various stakeholders, although there are multiple moral issues that need to be addressed first. Finally, we present seven (practical) implications for a responsible application of social robots in education following from our results. These implications provide valuable insights into how social robots should be implemented.

QuizMap: open social student modeling and adaptive navigation support with TreeMaps In this paper, we present a novel approach to integrate social adaptive navigation support for self-assessment questions with an open student model using QuizMap, a TreeMap-based interface. By exposing student model in contrast to student peers and the whole class, QuizMap attempts to provide social guidance and increase student performance. The paper explains the nature of the QuizMap approach and its implementation in the context of self-assessment questions for Java programming. It also presents the design of a semester-long classroom study that we ran to evaluate QuizMap and reports the evaluation results.

A web-based e-learning system for increasing study efficiency by stimulating learner's motivation Due to the opportunities provided by the Internet, more and more people are taking advantage of distance learning courses and during the last few years enormous research efforts have been dedicated to the development of distance learning systems. So far, many e-learning systems are proposed and used practically. However, in these systems the e-learning completion rate is about 30%. One of the reasons is the low study desire when the learner studies the learning materials. In this research, we propose an interactive Web-based e-learning system. The purpose of our system is to increase the e-learning completion rate by stimulating learner's motivation. The proposed system has three subsystems: the learning subsystem, learner support subsystem, and teacher support subsystem. The learning subsystem improves the learner's study desire. The learner support subsystem supports the learner during the study, and the teacher support subsystem supports the teacher to get the learner's study state. To evaluate the proposed system, we developed several experiments and surveys. By using new features such as: display of learner's study history, change of interface color, encourage function, ranking function, self-determination of the study materials, and grouping of learners, the proposed system can increase the learning efficiency.

A Web-Based Tool For Control Engineering Teaching In this article a new tool for control engineering teaching is presented. The tool was implemented using Java applets and is freely accessible through Web. It allows the analysis and simulation of linear control systems and was created to complement the theoretical lectures in basic control engineering courses. The article is not only centered in the description of the tool but also in the methodology to use it and its evaluation in an electrical engineering degree. Two practical problems are included in the manuscript to illustrate the use of the main functions implemented. The developed web-based tool can be accessed through the link http://www.controlweb.cyc.ull.es. (C) 2006 Wiley Periodicals, Inc.

Social navigation in web lectures Web lectures are a form of educational content that differs from classic hypertext in a number of ways. Web lectures are easier to produce and therefore large amounts of material become accumulated in a short time. The recordings are significantly less structured than traditional web based learning content and they are time based media. Both the lack of structure and their time based nature pose difficulties for navigation in web lectures. The approach presented in this paper applies the basic concept of social navigation to facilitate navigation in web lectures. Social navigation support has been successfully employed for hypertext and picture augmented hypertext in the education domain. This paper describes how social navigation can be implemented for web lectures and how it can be used to augment existent navigation features.

Lifelong Learner Modeling for Lifelong Personalized Pervasive Learning Pervasive and ubiquitous computing have the potential to make huge changes in the ways that we will learn, throughout our lives. This paper presents a vision for the lifelong user model as a first class citizen, existing independently of any single application and controlled by the learner. The paper argues that this is a critical foundation for a vision of personalised lifelong learning as well as a form of augmented cognition that enables learners to supplement their own knowledge with readily accessible digital information based on documents that they have accessed or used. The paper presents work that provides foundations for this vision for a lifelong user model. First, it outlines technical issues and research into approaches for addressing them. Then it presents work on the interface between the learner and the lifelong user model because the human issues of control and privacy are so central. The final discussion and conclusions draw upon these to define a roadmap for future research in a selection of the key areas that will underpin this vision of the lifelong user model.

Student Models that Invite the Learner In: The SMILI:() Open Learner Modelling Framework In recent years, the learner models of some adaptive learning environments have been opened to the learners they represent. However, as yet there is no standard way of describing and analysing these 'open learner models'. This is, in part, due to the variety of issues that can be important or relevant in any particular learner model. The lack of a framework to discuss open learner models poses several difficulties: there is no systematic way to analyse and describe the open learner models of any one system; there is no systematic way to compare the features of open learner models in different systems; and the designers of each new adaptive learning system must repeatedly tread the same path of studying the many diverse uses and approaches of open learner modelling so that they might determine how to make use of open learner modelling in their system. We believe this is a serious barrier to the effective use of open learner models. This paper presents such a framework, and gives examples of its use to describe and compare adaptive educational systems.

Understanding Behaviours and Roles for Social and Adaptive Robots In Education: Teacher's Perspective. In order to establish a long-term relationship between a robot and a child, robots need to learn from the environment, adapt to specific user needs and display behaviours and roles accordingly. Literature shows that certain robot behaviours could negatively impact child's learning and performance. Therefore, the purpose of the present study is to not only understand teacher's opinion on the existing effective social behaviours and roles but also to understand novel behaviours that can positively influence children performance in a language learning setting. In this paper, we present our results based on interviews conducted with 8 language teachers to get their opinion on how a robot can efficiently perform behaviour adaptation to influence learning and achieve long-term engagement. We also present results on future directions extracted from the interviews with teachers.

Wireless sensor networks: a survey This paper describes the concept of sensor networks which has been made viable by the convergence of micro-electro-mechanical systems technology, wireless communications and digital electronics. First, the sensing tasks and the potential sensor networks applications are explored, and a review of factors influencing the design of sensor networks is provided. Then, the communication architecture for sensor networks is outlined, and the algorithms and protocols developed for each layer in the literature are explored. Open research issues for the realization of sensor networks are also discussed.

Delay-Aware Microservice Coordination in Mobile Edge Computing: A Reinforcement Learning Approach As an emerging service architecture, microservice enables decomposition of a monolithic web service into a set of independent lightweight services which can be executed independently. With mobile edge computing, microservices can be further deployed in edge clouds dynamically, launched quickly, and migrated across edge clouds easily, providing better services for users in proximity. However, the user mobility can result in frequent switch of nearby edge clouds, which increases the service delay when users move away from their serving edge clouds. To address this issue, this article investigates microservice coordination among edge clouds to enable seamless and real-time responses to service requests from mobile users. The objective of this work is to devise the optimal microservice coordination scheme which can reduce the overall service delay with low costs. To this end, we first propose a dynamic programming-based offline microservice coordination algorithm, that can achieve the globally optimal performance. However, the offline algorithm heavily relies on the availability of the prior information such as computation request arrivals, time-varying channel conditions and edge cloud's computation capabilities required, which is hard to be obtained. Therefore, we reformulate the microservice coordination problem using Markov decision process framework and then propose a reinforcement learning-based online microservice coordination algorithm to learn the optimal strategy. Theoretical analysis proves that the offline algorithm can find the optimal solution while the online algorithm can achieve near-optimal performance. Furthermore, based on two real-world datasets, i.e., the Telecom's base station dataset and Taxi Track dataset from Shanghai, experiments are conducted. The experimental results demonstrate that the proposed online algorithm outperforms existing algorithms in terms of service delay and migration costs, and the achieved performance is close to the optimal performance obtained by the offline algorithm.

Trust in Automation: Designing for Appropriate Reliance. Automation is often problematic because people fail to rely upon it appropriately. Because people respond to technology socially, trust influences reliance on automation. In particular, trust guides reliance when complexity and unanticipated situations make a complete understanding of the automation impractical. This review considers trust from the organizational, sociological, interpersonal, psychological, and neurological perspectives. It considers how the context, automation characteristics, and cognitive processes affect the appropriateness of trust. The context in which the automation is used influences automation performance and provides a goal-oriented perspective to assess automation characteristics along a dimension of attributional abstraction. These characteristics can influence trust through analytic, analogical, and affective processes. The challenges of extrapolating the concept of trust in people to trust in automation are discussed. A conceptual model integrates research regarding trust in automation and describes the dynamics of trust, the role of context, and the influence of display characteristics. Actual or potential applications of this research include improved designs of systems that require people to manage imperfect automation.

A novel full structure optimization algorithm for radial basis probabilistic neural networks. In this paper, a novel full structure optimization algorithm for radial basis probabilistic neural networks (RBPNN) is proposed. Firstly, a minimum volume covering hyperspheres (MVCH) algorithm is proposed to heuristically select the initial hidden layer centers of the RBPNN, and then the recursive orthogonal least square (ROLS) algorithm combined with the particle swarm optimization (PSO) algorithm is adopted to further optimize the initial structure of the RBPNN. Finally, the effectiveness and efficiency of our proposed algorithm are evaluated through a plant species identification task involving 50 plant species.

GROPING: Geomagnetism and cROwdsensing Powered Indoor NaviGation Although a large number of WiFi fingerprinting based indoor localization systems have been proposed, our field experience with Google Maps Indoor (GMI), the only system available for public testing, shows that it is far from mature for indoor navigation. In this paper, we first report our field studies with GMI, as well as experiment results aiming to explain our unsatisfactory GMI experience. Then motivated by the obtained insights, we propose GROPING as a self-contained indoor navigation system independent of any infrastructural support. GROPING relies on geomagnetic fingerprints that are far more stable than WiFi fingerprints, and it exploits crowdsensing to construct floor maps rather than expecting individual venues to supply digitized maps. Based on our experiments with 20 participants in various floors of a big shopping mall, GROPING is able to deliver a sufficient accuracy for localization and thus provides smooth navigation experience.

Collective feature selection to identify crucial epistatic variants. In this study, we were able to show that selecting variables using a collective feature selection approach could help in selecting true positive epistatic variables more frequently than applying any single method for feature selection via simulation studies. We were able to demonstrate the effectiveness of collective feature selection along with a comparison of many methods in our simulation analysis. We also applied our method to identify non-linear networks associated with obesity.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Digital Assets and Blockchain-Based Multimedia Data Management With the emergence of blockchain technology, decentralized and trustworthy platforms for data storage and propagation transactions become available, which can improve the security of the digital assets, i.e., data with their right to use (e.g., authority, ownership, fingerprinting, etc.). However, the security mechanism of blockchain suffers more vulnerabilities when it is being attacked and when managing multimedia data. It remains challenging to secure multimedia data and protect data integrity. Meanwhile, multimedia data could contain critical personal information. Research in privacy-preserving multimedia data management needs to be further studied to enable using and analyzing multimedia digital assets in the decentralized system without personal information leakage. This is an important feature to enable applications, such as surveillance and e-health. While blockchain sheds light on the future of multimedia data management, further research on secure and privacy-preserving management for digital assets and multimedia data is needed.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Ethical Considerations Of Applying Robots In Kindergarten Settings: Towards An Approach From A Macroperspective In child-robot interaction (cHRI) research, many studies pursue the goal to develop interactive systems that can be applied in everyday settings. For early education, increasingly, the setting of a kindergarten is targeted. However, when cHRI and research are brought into a kindergarten, a range of ethical and related procedural aspects have to be considered and dealt with. While ethical models elaborated within other human-robot interaction settings, e.g., assisted living contexts, can provide some important indicators for relevant issues, we argue that it is important to start developing a systematic approach to identify and tackle those ethical issues which rise with cHRI in kindergarten settings on a more global level and address the impact of the technology from a macroperspective beyond the effects on the individual. Based on our experience in conducting studies with children in general and pedagogical considerations on the role of the institution of kindergarten in specific, in this paper, we enfold some relevant aspects that have barely been addressed in an explicit way in current cHRI research. Four areas are analyzed and key ethical issues are identified in each area: (1) the institutional setting of a kindergarten, (2) children as a vulnerable group, (3) the caregivers' role, and (4) pedagogical concepts. With our considerations, we aim at (i) broadening the methodology of the current studies within the area of cHRI, (ii) revalidate it based on our comprehensive empirical experience with research in kindergarten settings, both laboratory and real-world contexts, and (iii) provide a framework for the development of a more systematic approach to address the ethical issues in cHRI research within kindergarten settings.

Language (Technology) is Power: A Critical Survey of "Bias" in NLP We survey 146 papers analyzing "bias" in NLP systems, finding that their motivations are often vague, inconsistent, and lacking in normative reasoning, despite the fact that analyzing "bias" is an inherently normative process. We further find that these papers' proposed quantitative techniques for measuring or mitigating "bias" are poorly matched to their motivations and do not engage with the relevant literature outside of NLP. Based on these findings, we describe the beginnings of a path forward by proposing three recommendations that should guide work analyzing "bias" in NLP systems. These recommendations rest on a greater recognition of the relationships between language and social hierarchies, encouraging researchers and practitioners to articulate their conceptualizations of "bias"---i.e., what kinds of system behaviors are harmful, in what ways, to whom, and why, as well as the normative reasoning underlying these statements---and to center work around the lived experiences of members of communities affected by NLP systems, while interrogating and reimagining the power relations between technologists and such communities.

NLTK: the natural language toolkit The Natural Language Toolkit is a suite of program modules, data sets, tutorials and exercises, covering symbolic and statistical natural language processing. NLTK is written in Python and distributed under the GPL open source license. Over the past three years, NLTK has become popular in teaching and research. We describe the toolkit and report on its current state of development.

WP:clubhouse?: an exploration of Wikipedia's gender imbalance Wikipedia has rapidly become an invaluable destination for millions of information-seeking users. However, media reports suggest an important challenge: only a small fraction of Wikipedia's legion of volunteer editors are female. In the current work, we present a scientific exploration of the gender imbalance in the English Wikipedia's population of editors. We look at the nature of the imbalance itself, its effects on the quality of the encyclopedia, and several conflict-related factors that may be contributing to the gender gap. Our findings confirm the presence of a large gender gap among editors and a corresponding gender-oriented disparity in the content of Wikipedia's articles. Further, we find evidence hinting at a culture that may be resistant to female participation.

Understanding Back-Translation at Scale. An effective method to improve neural machine translation with monolingual data is to augment the parallel training corpus with back-translations of target language sentences. This work broadens the understanding of back-translation and investigates a number of methods to generate synthetic source sentences. We find that in all but resource poor settings back-translations obtained via sampling or noised beam outputs are most effective. Our analysis shows that sampling or noisy synthetic data gives a much stronger training signal than data generated by beam or greedy search. We also compare how synthetic data compares to genuine bitext and study various domain effects. Finally, we scale to hundreds of millions of monolingual sentences and achieve a new state of the art of 35 BLEU on the WMTu002714 English-German test set.

Amazon mechanical turk: Gold mine or coal mine?

Gender and Dialect Bias in YouTube's Automatic Captions.

A standalone RFID Indoor Positioning System Using Passive Tags Indoor positioning systems (IPSs) locate objects in closed structures such as office buildings, hospitals, stores, factories, and warehouses, where Global Positioning System devices generally do not work. Most available systems apply wireless concepts, optical tracking, and/or ultrasound. This paper presents a standalone IPS using radio frequency identification (RFID) technology. The concept is ba...

Model-based periodic event-triggered control for linear systems Periodic event-triggered control (PETC) is a control strategy that combines ideas from conventional periodic sampled-data control and event-triggered control. By communicating periodically sampled sensor and controller data only when needed to guarantee stability or performance properties, PETC is capable of reducing the number of transmissions significantly, while still retaining a satisfactory closed-loop behavior. In this paper, we will study observer-based controllers for linear systems and propose advanced event-triggering mechanisms (ETMs) that will reduce communication in both the sensor-to-controller channels and the controller-to-actuator channels. By exploiting model-based computations, the new classes of ETMs will outperform existing ETMs in the literature. To model and analyze the proposed classes of ETMs, we present two frameworks based on perturbed linear and piecewise linear systems, leading to conditions for global exponential stability and @?"2-gain performance of the resulting closed-loop systems in terms of linear matrix inequalities. The proposed analysis frameworks can be used to make tradeoffs between the network utilization on the one hand and the performance in terms of @?"2-gains on the other. In addition, we will show that the closed-loop performance realized by an observer-based controller, implemented in a conventional periodic time-triggered fashion, can be recovered arbitrarily closely by a PETC implementation. This provides a justification for emulation-based design. Next to centralized model-based ETMs, we will also provide a decentralized setup suitable for large-scale systems, where sensors and actuators are physically distributed over a wide area. The improvements realized by the proposed model-based ETMs will be demonstrated using numerical examples.

Hierarchical mesh segmentation based on fitting primitives In this paper, we describe a hierarchical face clustering algorithm for triangle meshes based on fitting primitives belonging to an arbitrary set. The method proposed is completely automatic, and generates a binary tree of clusters, each of which is fitted by one of the primitives employed. Initially, each triangle represents a single cluster; at every iteration, all the pairs of adjacent clusters are considered, and the one that can be better approximated by one of the primitives forms a new single cluster. The approximation error is evaluated using the same metric for all the primitives, so that it makes sense to choose which is the most suitable primitive to approximate the set of triangles in a cluster.Based on this approach, we have implemented a prototype that uses planes, spheres and cylinders, and have experimented that for meshes made of 100 K faces, the whole binary tree of clusters can be built in about 8 s on a standard PC.The framework described here has natural application in reverse engineering processes, but it has also been tested for surface denoising, feature recovery and character skinning.

2 Algorithms For Constructing A Delaunay Triangulation This paper provides a unified discussion of the Delaunay triangulation. Its geometric properties are reviewed and several applications are discussed. Two algorithms are presented for constructing the triangulation over a planar set ofN points. The first algorithm uses a divide-and-conquer approach. It runs inO(N logN) time, which is asymptotically optimal. The second algorithm is iterative and requiresO(N2) time in the worst case. However, its average case performance is comparable to that of the first algorithm.

Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an extended Kalman filter designed for real-time estimation of the orientation of human limb segments. The filter processes data from small inertial/magnetic sensor modules containing triaxial angular rate sensors, accelerometers, and magnetometers. The filter represents rotation using quaternions rather than Euler angles or axis/angle pairs. Preprocessing of the acceleration and magnetometer measurements using the Quest algorithm produces a computed quaternion input for the filter. This preprocessing reduces the dimension of the state vector and makes the measurement equations linear. Real-time implementation and testing results of the quaternion-based Kalman filter are presented. Experimental results validate the filter design, and show the feasibility of using inertial/magnetic sensor modules for real-time human body motion tracking

Reinforcement Q-learning for optimal tracking control of linear discrete-time systems with unknown dynamics. In this paper, a novel approach based on the Q-learning algorithm is proposed to solve the infinite-horizon linear quadratic tracker (LQT) for unknown discrete-time systems in a causal manner. It is assumed that the reference trajectory is generated by a linear command generator system. An augmented system composed of the original system and the command generator is constructed and it is shown that the value function for the LQT is quadratic in terms of the state of the augmented system. Using the quadratic structure of the value function, a Bellman equation and an augmented algebraic Riccati equation (ARE) for solving the LQT are derived. In contrast to the standard solution of the LQT, which requires the solution of an ARE and a noncausal difference equation simultaneously, in the proposed method the optimal control input is obtained by only solving an augmented ARE. A Q-learning algorithm is developed to solve online the augmented ARE without any knowledge about the system dynamics or the command generator. Convergence to the optimal solution is shown. A simulation example is used to verify the effectiveness of the proposed control scheme.

A multi-objective and PSO based energy efficient path design for mobile sink in wireless sensor networks. Data collection through mobile sink (MS) in wireless sensor networks (WSNs) is an effective solution to the hot-spot or sink-hole problem caused by multi-hop routing using the static sink. Rendezvous point (RP) based MS path design is a common and popular technique used in this regard. However, design of the optimal path is a well-known NP-hard problem. Therefore, an evolutionary approach like multi-objective particle swarm optimization (MOPSO) can prove to be a very promising and reasonable approach to solve the same. In this paper, we first present a Linear Programming formulation for the stated problem and then, propose an MOPSO-based algorithm to design an energy efficient trajectory for the MS. The algorithm is presented with an efficient particle encoding scheme and derivation of a proficient multi-objective fitness function. We use Pareto dominance in MOPSO for obtaining both local and global best guides for each particle. We carry out rigorous simulation experiments on the proposed algorithm and compare the results with two existing algorithms namely, tree cluster based data gathering algorithm (TCBDGA) and energy aware sink relocation (EASR). The results demonstrate that the proposed algorithm performs better than both of them in terms of various performance metrics. The results are also validated through the statistical test, analysis of variance (ANOVA) and its least significant difference (LSD) post hoc analysis.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Identifying Scenarios in Field Data to Enable Validation of Highly Automated Driving Systems Scenario-based approaches for the validation of highly automated driving functions are based on the search for safety-critical characteristics of driving scenarios using software-in-the-loop simulations. This search requires information about the shape and probability of scenarios in real-world traffic. The scope of this work is to develop a method that identifies predefined logical driving scenarios in field data, so that this information can be derived subsequently. More precisely, a suitable approach is developed, implemented and validated using a traffic scenario as an example. The presented methodology is based on qualitative modelling of scenarios, which can be detected in abstracted field data. The abstraction is achieved by using universal elements of an ontology represented by a domain model. Already published approaches for such an abstraction are discussed and concretised with regard to the given application. By examining a first set of test data, it is shown that the developed method is a suitable approach for the identification of further driving scenarios.

Using Ontology-Based Traffic Models for More Efficient Decision Making of Autonomous Vehicles The paper describes how a high-level abstract world model can be used to support the decision-making process of an autonomous driving system. The approach uses a hierarchical world model and distinguishes between a low-level model for the trajectory planning and a high-level model for solving the traffic coordination problem. The abstract world model used in the CyberCars-2 project is presented. It is based on a topological lane segmentation and introduces relations to represent the semantic context of the traffic scenario. This makes it much easier to realize a consistent and complete driving control system, and to analyze, evaluate and simulate such a system.

Ontology-based methods for enhancing autonomous vehicle path planning We report the results of a first implementation demonstrating the use of an ontology to support reasoning about obstacles to improve the capabilities and performance of on-board route planning for autonomous vehicles. This is part of an overall effort to evaluate the performance of ontologies in different components of an autonomous vehicle within the 4D/RCS system architecture developed at NIST. Our initial focus has been on simple roadway driving scenarios where the controlled vehicle encounters potential obstacles in its path. As reported elsewhere [C. Schlenoff, S. Balakirsky, M. Uschold, R. Provine, S. Smith, Using ontologies to aid navigation planning in autonomous vehicles, Knowledge Engineering Review 18 (3) (2004) 243–255], our approach is to develop an ontology of objects in the environment, in conjunction with rules for estimating the damage that would be incurred by collisions with different objects in different situations. Automated reasoning is used to estimate collision damage; this information is fed to the route planner to help it decide whether to plan to avoid the object. We describe the results of the first implementation that integrates the ontology, the reasoner and the planner. We describe our insights and lessons learned and discuss resulting changes to our approach.

Online Verification of Automated Road Vehicles Using Reachability Analysis An approach for formally verifying the safety of automated vehicles is proposed. Due to the uniqueness of each traffic situation, we verify safety online, i.e., during the operation of the vehicle. The verification is performed by predicting the set of all possible occupancies of the automated vehicle and other traffic participants on the road. In order to capture all possible future scenarios, we apply reachability analysis to consider all possible behaviors of mathematical models considering uncertain inputs (e.g., sensor noise, disturbances) and partially unknown initial states. Safety is guaranteed with respect to the modeled uncertainties and behaviors if the occupancy of the automated vehicle does not intersect that of other traffic participants for all times. The applicability of the approach is demonstrated by test drives with an automated vehicle at the Robotics Institute at Carnegie Mellon University.

AVFI: Fault Injection for Autonomous Vehicles Autonomous vehicle (AV) technology is rapidly becoming a reality on U.S. roads, offering the promise of improvements in traffic management, safety, and the comfort and efficiency of vehicular travel. With this increasing popularity and ubiquitous deployment, resilience has become a critical requirement for public acceptance and adoption. Recent studies into the resilience of AVs have shown that though the AV systems are improving over time, they have not reached human levels of automation. Prior work in this area has studied the safety and resilience of individual components of the AV system (e.g., testing of neural networks powering the perception function). However, methods for holistic end-to-end resilience assessment of AV systems are still non-existent.

Specifying Safety of Autonomous Vehicles in Signal Temporal Logic We develop a set of contracts for autonomous control software that ensures that if all traffic participants follow the contracts, the overall traffic system will be collision-free. We express our contracts in Signal Temporal Logic (STL), a lightweight specification language that enables V &V methodologies. We demonstrate how the specification can be used for evaluation of the performance of autonomy software, and We provide preliminary evidence that our contracts are not excessively conservative, i.e., they are not more restrictive than existing guidelines for safe driving by humans.

An Interaction-aware Evaluation Method for Highly Automated Vehicles It is important to build a rigorous verification and validation (V&amp;V) process to evaluate the safety of highly automated vehicles (HAVs) before their wide deployment on public roads. In this paper, we propose an interaction-aware framework for HAV safety evaluation which is suitable for some highly-interactive driving scenarios including highway merging, roundabout entering, etc. Contrary to e...

Accelerated Evaluation of Automated Vehicles Safety in Lane-Change Scenarios Based on Importance Sampling Techniques Automated vehicles (AVs) must be thoroughly evaluated before their release and deployment. A widely used evaluation approach is the Naturalistic-Field Operational Test (N-FOT), which tests prototype vehicles directly on the public roads. Due to the low exposure to safety-critical scenarios, N-FOTs are time consuming and expensive to conduct. In this paper, we propose an accelerated evaluation approach for AVs. The results can be used to generate motions of the other primary vehicles to accelerate the verification of AVs in simulations and controlled experiments. Frontal collision due to unsafe cut-ins is the target crash type of this paper. Human-controlled vehicles making unsafe lane changes are modeled as the primary disturbance to AVs based on data collected by the University of Michigan Safety Pilot Model Deployment Program. The cut-in scenarios are generated based on skewed statistics of collected human driver behaviors, which generate risky testing scenarios while preserving the statistical information so that the safety benefits of AVs in nonaccelerated cases can be accurately estimated. The cross-entropy method is used to recursively search for the optimal skewing parameters. The frequencies of the occurrences of conflicts, crashes, and injuries are estimated for a modeled AV, and the achieved accelerated rate is around 2000 to 20 000. In other words, in the accelerated simulations, driving for 1000 miles will expose the AV with challenging scenarios that will take about 2 to 20 million miles of real-world driving to encounter. This technique thus has the potential to greatly reduce the development and validation time for AVs.

A survey of socially interactive robots This paper reviews “socially interactive robots”: robots for which social human–robot interaction is important. We begin by discussing the context for socially interactive robots, emphasizing the relationship to other research fields and the different forms of “social robots”. We then present a taxonomy of design methods and system components used to build socially interactive robots. Finally, we describe the impact of these robots on humans and discuss open issues. An expanded version of this paper, which contains a survey and taxonomy of current applications, is available as a technical report [T. Fong, I. Nourbakhsh, K. Dautenhahn, A survey of socially interactive robots: concepts, design and applications, Technical Report No. CMU-RI-TR-02-29, Robotics Institute, Carnegie Mellon University, 2002].

A General Equilibrium Model for Industries with Price and Service Competition This paper develops a stochastic general equilibrium inventory model for an oligopoly, in which all inventory constraint parameters are endogenously determined. We propose several systems of demand processes whose distributions are functions of all retailers' prices and all retailers' service levels. We proceed with the investigation of the equilibrium behavior of infinite-horizon models for industries facing this type of generalized competition, under demand uncertainty.We systematically consider the following three competition scenarios. (1) Price competition only: Here, we assume that the firms' service levels are exogenously chosen, but characterize how the price and inventory strategy equilibrium vary with the chosen service levels. (2) Simultaneous price and service-level competition: Here, each of the firms simultaneously chooses a service level and a combined price and inventory strategy. (3) Two-stage competition: The firms make their competitive choices sequentially. In a first stage, all firms simultaneously choose a service level; in a second stage, the firms simultaneously choose a combined pricing and inventory strategy with full knowledge of the service levels selected by all competitors. We show that in all of the above settings a Nash equilibrium of infinite-horizon stationary strategies exists and that it is of a simple structure, provided a Nash equilibrium exists in a so-called reduced game.We pay particular attention to the question of whether a firm can choose its service level on the basis of its own (input) characteristics (i.e., its cost parameters and demand function) only. We also investigate under which of the demand models a firm, under simultaneous competition, responds to a change in the exogenously specified characteristics of the various competitors by either: (i) adjusting its service level and price in the same direction, thereby compensating for price increases (decreases) by offering improved (inferior) service, or (ii) adjusting them in opposite directions, thereby simultaneously offering better or worse prices and service.

Load Scheduling and Dispatch for Aggregators of Plug-In Electric Vehicles This paper proposes an operating framework for aggregators of plug-in electric vehicles (PEVs). First, a minimum-cost load scheduling algorithm is designed, which determines the purchase of energy in the day-ahead market based on the forecast electricity price and PEV power demands. The same algorithm is applicable for negotiating bilateral contracts. Second, a dynamic dispatch algorithm is developed, used for distributing the purchased energy to PEVs on the operating day. Simulation results are used to evaluate the proposed algorithms, and to demonstrate the potential impact of an aggregated PEV fleet on the power system.

An Efficient Non-Negative Matrix-Factorization-Based Approach to Collaborative Filtering for Recommender Systems Matrix-factorization (MF)-based approaches prove to be highly accurate and scalable in addressing collaborative filtering (CF) problems. During the MF process, the non-negativity, which ensures good representativeness of the learnt model, is critically important. However, current non-negative MF (NMF) models are mostly designed for problems in computer vision, while CF problems differ from them due to their extreme sparsity of the target rating-matrix. Currently available NMF-based CF models are based on matrix manipulation and lack practicability for industrial use. In this work, we focus on developing an NMF-based CF model with a single-element-based approach. The idea is to investigate the non-negative update process depending on each involved feature rather than on the whole feature matrices. With the non-negative single-element-based update rules, we subsequently integrate the Tikhonov regularizing terms, and propose the regularized single-element-based NMF (RSNMF) model. RSNMF is especially suitable for solving CF problems subject to the constraint of non-negativity. The experiments on large industrial datasets show high accuracy and low-computational complexity achieved by RSNMF.

Driver Gaze Zone Estimation Using Convolutional Neural Networks: A General Framework and Ablative Analysis Driver gaze has been shown to be an excellent surrogate for driver attention in intelligent vehicles. With the recent surge of highly autonomous vehicles, driver gaze can be useful for determining the handoff time to a human driver. While there has been significant improvement in personalized driver gaze zone estimation systems, a generalized system which is invariant to different subjects, perspe...

Dual-objective mixed integer linear program and memetic algorithm for an industrial group scheduling problem Group scheduling problems have attracted much attention owing to their many practical applications. This work proposes a new bi-objective serial-batch group scheduling problem considering the constraints of sequence-dependent setup time, release time, and due time. It is originated from an important industrial process, i.e., wire rod and bar rolling process in steel production systems. Two objecti...

Wireless Powered Sensor Networks for Internet of Things: Maximum Throughput and Optimal Power Allocation. This paper investigates a wireless powered sensor network, where multiple sensor nodes are deployed to monitor a certain external environment. A multiantenna power station (PS) provides the power to these sensor nodes during wireless energy transfer phase, and consequently the sensor nodes employ the harvested energy to transmit their own monitoring information to a fusion center during wireless i...

Reliable and Fast Hand-Offs in Low-Power Wireless Networks Hand-off (or hand-over), the process where mobile nodes select the best access point available to transfer data, has been well studied in wireless networks. The performance of a hand-off process depends on the specific characteristics of the wireless links. In the case of low-power wireless networks, hand-off decisions must be carefully taken by considering the unique properties of inexpensive low-power radios. This paper addresses the design, implementation and evaluation of smart-HOP, a hand-off mechanism tailored for low-power wireless networks. This work has three main contributions. First, it formulates the hard hand-off process for low-power networks (such as typical wireless sensor networks - WSNs) with a probabilistic model, to investigate the impact of the most relevant channel parameters through an analytical approach. Second, it confirms the probabilistic model through simulation and further elaborates on the impact of several hand-off parameters. Third, it fine-tunes the most relevant hand-off parameters via an extended set of experiments, in a realistic experimental scenario. The evaluation shows that smart-HOP performs well in the transitional region while achieving more than 98 percent relative delivery ratio and hand-off delays in the order of a few tens of a milliseconds.

An efficient medium access control protocol for WSN-UAV. Recent advances in Unmanned Aerial Vehicle (UAV) technologies have enhanced Wireless Sensor Networks (WSNs) by offering a UAV as a mobile data gathering node. These systems are called WSN-UAV that are well-suited for remote monitoring and emergency applications. Since previous Medium Access Control (MAC) protocols proposed in WSNs are not appropriate in the presence of a UAV, few researches have proposed new MAC protocols to meet WSN-UAV requirements. MAC protocols of WSN-UAV should be extremely efficient and fair due to the time-limited presence of the UAV in the neighborhood of each sensor. However, issues such as high throughput in dense networks, fairness among sensors, and efficiency have not been resolved yet in a satisfactory manner. Moreover, previous works lack analytical evaluation of their protocols. In this paper, we present a novel MAC protocol in WSN-UAV, called Advanced Prioritized MAC (AP-MAC), that can provide high throughput, fairness, and efficiency, especially in dense networks. We also analytically evaluate AP-MAC using a 3-dimensional Markov chain and validate its correctness using simulation. Simulation results under various scenarios confirm that AP-MAC can approximately improve throughput and fairness up to 20% and 25%, respectively, leading to higher efficiency compared with previous work in WSN-UAV systems such as Prioritized Frame Selection (PFS).

Joint Synchronization and Localization in Wireless Sensor Networks Using Semidefinite Programming. A new joint synchronization and localization method for wireless sensor networks using two-way exchanged timestamps is proposed in this paper. The goal is to jointly localize and synchronize the source node, assuming that the locations and clock parameters of the anchor nodes are known. We first form the measurement model and derive the Cramér-Rao lower bound (CRLB). An analysis of the advantages ...

A Novel Cluster Head Selection Technique for Edge-Computing based IoMT Systems •An innovative cluster head selection technique is developed for medical systems.•An energy efficient communication protocol for IoMT applications.•Development of clustering model for remote healthcare domains.

An Energy-Efficient Evolutionary Clustering Technique for Disaster Management in IoT Networks. Wireless Sensor Networks (WSNs) are key elements of Internet of Things (IoT) networks which provide sensing and wireless connectivity. Disaster management in smart cities is classified as a safety-critical application. Thus, it is important to ensure system availability by increasing the lifetime of WSNs. Clustering is one of the routing techniques that benefits energy efficiency in WSNs. This paper provides an evolutionary clustering and routing method which is capable of managing the energy consumption of nodes while considering the characteristics of a disaster area. The proposed method consists of two phases. First, we present a model with improved hybrid Particle Swarm Optimization (PSO) and Harmony Search Algorithm (HSA) for cluster head (CH) selection. Second, we design a PSO-based multi-hop routing system with enhanced tree encoding and a modified data packet format. The simulation results for disaster scenarios prove the efficiency of the proposed method in comparison with the state-of-the-art approaches in terms of the overall residual energy, number of live nodes, network coverage, and the packet delivery ratio.

Wireless sensor network survey A wireless sensor network (WSN) has important applications such as remote environmental monitoring and target tracking. This has been enabled by the availability, particularly in recent years, of sensors that are smaller, cheaper, and intelligent. These sensors are equipped with wireless interfaces with which they can communicate with one another to form a network. The design of a WSN depends significantly on the application, and it must consider factors such as the environment, the application's design objectives, cost, hardware, and system constraints. The goal of our survey is to present a comprehensive review of the recent literature since the publication of [I.F. Akyildiz, W. Su, Y. Sankarasubramaniam, E. Cayirci, A survey on sensor networks, IEEE Communications Magazine, 2002]. Following a top-down approach, we give an overview of several new applications and then review the literature on various aspects of WSNs. We classify the problems into three different categories: (1) internal platform and underlying operating system, (2) communication protocol stack, and (3) network services, provisioning, and deployment. We review the major development in these three categories and outline new challenges.

Long short-term memory. Learning to store information over extended time intervals by recurrent backpropagation takes a very long time, mostly because of insufficient, decaying error backflow. We briefly review Hochreiter's (1991) analysis of this problem, then address it by introducing a novel, efficient, gradient-based method called long short-term memory (LSTM). Truncating the gradient where this does not do harm, LSTM can learn to bridge minimal time lags in excess of 1000 discrete-time steps by enforcing constant error flow through constant error carousels within special units. Multiplicative gate units learn to open and close access to the constant error flow. LSTM is local in space and time; its computational complexity per time step and weight is O(1). Our experiments with artificial data involve local, distributed, real-valued, and noisy pattern representations. In comparisons with real-time recurrent learning, back propagation through time, recurrent cascade correlation, Elman nets, and neural sequence chunking, LSTM leads to many more successful runs, and learns much faster. LSTM also solves complex, artificial long-time-lag tasks that have never been solved by previous recurrent network algorithms.

Joint Task Offloading and Resource Allocation for Multi-Server Mobile-Edge Computing Networks Mobile-edge computing (MEC) is an emerging paradigm that provides a capillary distribution of cloud computing capabilities to the edge of the wireless access network, enabling rich services and applications in close proximity to the end users. In this paper, an MEC enabled multi-cell wireless network is considered where each base station (BS) is equipped with a MEC server that assists mobile users...

Space-time modeling of traffic flow. This paper discusses the application of space-time autoregressive integrated moving average (STARIMA) methodology for representing traffic flow patterns. Traffic flow data are in the form of spatial time series and are collected at specific locations at constant intervals of time. Important spatial characteristics of the space-time process are incorporated in the STARIMA model through the use of weighting matrices estimated on the basis of the distances among the various locations where data are collected. These matrices distinguish the space-time approach from the vector autoregressive moving average (VARMA) methodology and enable the model builders to control the number of the parameters that have to be estimated. The proposed models can be used for short-term forecasting of space-time stationary traffic-flow processes and for assessing the impact of traffic-flow changes on other parts of the network. The three-stage iterative space-time model building procedure is illustrated using 7.5min average traffic flow data for a set of 25 loop-detectors located at roads that direct to the centre of the city of Athens, Greece. Data for two months with different traffic-flow characteristics are modelled in order to determine the stability of the parameter estimation.

Dynamic transfer among alternative controllers and its relation to antiwindup controller design Advanced control strategies and modern consulting provide new challenges for the classical problem of bumpless transfer. It can, for example, be necessary to transfer between an only approximately known existing analog controller and a new digital or adaptive controller without accessing any states. Transfer ought to be bidirectional and not presuppose steady state, so that an immediate back-transfer is possible if the new controller should drive the plant unstable. We present a scheme that meets these requirements. By casting the problem of bidirectional transfer into an associated tracking control problem, systematic analysis and design procedures from control theory can be applied. The associated control problem also has a correspondence to the design of antiwindup controllers. The paper includes laboratory and industrial applications.

NETWRAP: An NDN Based Real-TimeWireless Recharging Framework for Wireless Sensor Networks Using vehicles equipped with wireless energy transmission technology to recharge sensor nodes over the air is a game-changer for traditional wireless sensor networks. The recharging policy regarding when to recharge which sensor nodes critically impacts the network performance. So far only a few works have studied such recharging policy for the case of using a single vehicle. In this paper, we propose NETWRAP, an N DN based Real Time Wireless Rech arging Protocol for dynamic wireless recharging in sensor networks. The real-time recharging framework supports single or multiple mobile vehicles. Employing multiple mobile vehicles provides more scalability and robustness. To efficiently deliver sensor energy status information to vehicles in real-time, we leverage concepts and mechanisms from named data networking (NDN) and design energy monitoring and reporting protocols. We derive theoretical results on the energy neutral condition and the minimum number of mobile vehicles required for perpetual network operations. Then we study how to minimize the total traveling cost of vehicles while guaranteeing all the sensor nodes can be recharged before their batteries deplete. We formulate the recharge optimization problem into a Multiple Traveling Salesman Problem with Deadlines (m-TSP with Deadlines), which is NP-hard. To accommodate the dynamic nature of node energy conditions with low overhead, we present an algorithm that selects the node with the minimum weighted sum of traveling time and residual lifetime. Our scheme not only improves network scalability but also ensures the perpetual operation of networks. Extensive simulation results demonstrate the effectiveness and efficiency of the proposed design. The results also validate the correctness of the theoretical analysis and show significant improvements that cut the number of nonfunctional nodes by half compared to the static scheme while maintaining the network overhead at the same level.

Adaptive Fuzzy Control With Prescribed Performance for Block-Triangular-Structured Nonlinear Systems. In this paper, an adaptive fuzzy control method with prescribed performance is proposed for multi-input and multioutput block-triangular-structured nonlinear systems with immeasurable states. Fuzzy logic systems are adopted to identify the unknown nonlinear system functions. Adaptive fuzzy state observers are designed to solve the problem of unmeasured states, and a new observer-based output-feedb...

Energy harvesting algorithm considering max flow problem in wireless sensor networks. In Wireless Sensor Networks (WSNs), sensor nodes with poor energy always have bad effect on the data rate or max flow. These nodes are called bottleneck nodes. In this paper, in order to increase the max flow, we assume an energy harvesting WSNs environment to investigate the cooperation of multiple Mobile Chargers (MCs). MCs are mobile robots that use wireless charging technology to charge sensor nodes in WSNs. This means that in energy harvesting WSNs environments, sensor nodes can obtain energy replenishment by using MCs or collecting energy from nature by themselves. In our research, we use MCs to improve the energy of the sensor nodes by performing multiple rounds of unified scheduling, and finally achieve the purpose of increasing the max flow at sinks. Firstly, we model this problem as a Linear Programming (LP) to search the max flow in a round of charging scheduling and prove that the problem is NP-hard. In order to solve the problem, we propose a heuristic approach: deploying MCs in units of paths with the lowest energy node priority. To reduce the energy consumption of MCs and increase the charging efficiency, we also take the optimization of MCs’ moving distance into our consideration. Finally, we extend the method to multiple rounds of scheduling called BottleNeck. Simulation results show that Bottleneck performs well at increasing max flow.

Image-Based Texture Styling for Motion Effect Rendering ABSTRACT A motion platform provides the vestibular stimuli that elicit the sensations of self-motion and thereby improves the immersiveness. A representative example is a 4D Ride, which presents a video of POV shots and motion effects synchronized with the camera motion in the video. Previous research efforts resulted in a few automatic motion effect synthesis algorithms for POV shots. Although effective in generating gross motion effects, they do not consider fine features on the ground, such as a rough or bumpy road. In this paper, we propose an algorithm for styling the gross motion effects using a texture image. Our algorithm transforms a texture image into a high-frequency style motion and merges it with the original motion while respecting both perceptual and device constraints. A user study demonstrated that texture styling could increase immersiveness, realism, and harmony.

Piecewise linear mapping functions for image registration A new approach to determination of mapping functions for registration of digital images is presented. Given the coordinates of corresponding control points in two images of the same scene, first the images are divided into triangular regions by triangulating the control points. Then a linear mapping function is obtained by registering each pair of corresponding triangular regions in the images. The overall mapping function is then obtained by piecing together the linear mapping functions.

Investigating 4d Movie Audiences' Emotional Responses To Motion Effects And Empathy Designing 4D effects corresponding to audiences' emotional responses is important because 4D effects are critical components of 4D movies that provide rich emotional experiences. The recent increasing popularity of 4D content has led to the development of motion effect technology, which involves motions of the chair according to the scene. However, it is difficult to find studies that systematically investigated the influence of motion effects on audiences' emotional responses. This study investigated the emotional responses of a 4D movie audience to motion effects according to their level of empathy. Participants (mean: 25.0 years, standard deviation: 5.0) with varying levels of empathy watched movie clips provided with or without single pitch motion effects. The degree that the motion effect and empathy affected the elicited emotions differed depending on the emotion type. For example, participants with high empathy reported stronger intensity of fear when short and weak motion effects were exhibited than when there was no motion effect. Distinct motion effect design guidelines that can be adopted to enhance audiences' emotional experiences were proposed. The findings can be referred to when investigating the emotional responses of 4D movie audiences.

Augmenting Physical Buttons with Vibrotactile Feedback for Programmable Feels ABSTRACTPhysical buttons provide clear haptic feedback when pressed and released, but their responses are unvarying. Physical buttons can be powered by force actuators to produce unlimited click sensations, but the cost is substantial. An alternative can be augmenting physical buttons with simple and inexpensive vibration actuators. When pushed, an augmented button generates a vibration overlayed on the button's original kinesthetic response, under the general framework of haptic augmented reality. We explore the design space of augmented buttons while changing vibration frequency, amplitude, duration, and envelope. We then visualize the perceptual structure of augmented buttons by estimating a perceptual space for 7 physical buttons and 40 augmented buttons. Their sensations are also assessed against adjectives, and results are mapped into the perceptual space to identify meaningful perceptual dimensions. Our results contribute to understanding the benefits and limitations of programmable vibration-augmented physical buttons with emphasis on their feels.

Improving Viewing Experiences of First-Person Shooter Gameplays with Automatically-Generated Motion Effects ABSTRACTIn recent times, millions of people enjoy watching video gameplays at an eSports stadium or home. We seek a method that improves gameplay spectator or viewer experiences by presenting multisensory stimuli. Using a motion chair, we provide the motion effects automatically generated from the audiovisual stream to the viewers watching a first-person shooter (FPS) gameplay. The motion effects express the game character’s movement and gunfire action. We describe algorithms for the computation of such motion effects developed using computer vision techniques and deep learning. By a user study, we demonstrate that our method of providing motion effects significantly improves the viewing experiences of FPS gameplay. The contributions of this paper are with the motion synthesis algorithms integrated for FPS games and the empirical evidence for the benefits of experiencing multisensory gameplays.

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Massive MIMO for next generation wireless systems Multi-user MIMO offers big advantages over conventional point-to-point MIMO: it works with cheap single-antenna terminals, a rich scattering environment is not required, and resource allocation is simplified because every active terminal utilizes all of the time-frequency bins. However, multi-user MIMO, as originally envisioned, with roughly equal numbers of service antennas and terminals and frequency-division duplex operation, is not a scalable technology. Massive MIMO (also known as large-scale antenna systems, very large MIMO, hyper MIMO, full-dimension MIMO, and ARGOS) makes a clean break with current practice through the use of a large excess of service antennas over active terminals and time-division duplex operation. Extra antennas help by focusing energy into ever smaller regions of space to bring huge improvements in throughput and radiated energy efficiency. Other benefits of massive MIMO include extensive use of inexpensive low-power components, reduced latency, simplification of the MAC layer, and robustness against intentional jamming. The anticipated throughput depends on the propagation environment providing asymptotically orthogonal channels to the terminals, but so far experiments have not disclosed any limitations in this regard. While massive MIMO renders many traditional research problems irrelevant, it uncovers entirely new problems that urgently need attention: the challenge of making many low-cost low-precision components that work effectively together, acquisition and synchronization for newly joined terminals, the exploitation of extra degrees of freedom provided by the excess of service antennas, reducing internal power consumption to achieve total energy efficiency reductions, and finding new deployment scenarios. This article presents an overview of the massive MIMO concept and contemporary research on the topic.

Deep Residual Learning for Image Recognition Deeper neural networks are more difficult to train. We present a residual learning framework to ease the training of networks that are substantially deeper than those used previously. We explicitly reformulate the layers as learning residual functions with reference to the layer inputs, instead of learning unreferenced functions. We provide comprehensive empirical evidence showing that these residual networks are easier to optimize, and can gain accuracy from considerably increased depth. On the ImageNet dataset we evaluate residual nets with a depth of up to 152 layers - 8× deeper than VGG nets [40] but still having lower complexity. An ensemble of these residual nets achieves 3.57% error on the ImageNet test set. This result won the 1st place on the ILSVRC 2015 classification task. We also present analysis on CIFAR-10 with 100 and 1000 layers. The depth of representations is of central importance for many visual recognition tasks. Solely due to our extremely deep representations, we obtain a 28% relative improvement on the COCO object detection dataset. Deep residual nets are foundations of our submissions to ILSVRC & COCO 2015 competitions1, where we also won the 1st places on the tasks of ImageNet detection, ImageNet localization, COCO detection, and COCO segmentation.

Communication theory of secrecy systems THE problems of cryptography and secrecy systems furnish an interesting application of communication theory.1 In this paper a theory of secrecy systems is developed. The approach is on a theoretical level and is intended to complement the treatment found in standard works on cryptography.2 There, a detailed study is made of the many standard types of codes and ciphers, and of the ways of breaking them. We will be more concerned with the general mathematical structure and properties of secrecy systems.

Reservoir computing approaches to recurrent neural network training Echo State Networks and Liquid State Machines introduced a new paradigm in artificial recurrent neural network (RNN) training, where an RNN (the reservoir) is generated randomly and only a readout is trained. The paradigm, becoming known as reservoir computing, greatly facilitated the practical application of RNNs and outperformed classical fully trained RNNs in many tasks. It has lately become a vivid research field with numerous extensions of the basic idea, including reservoir adaptation, thus broadening the initial paradigm to using different methods for training the reservoir and the readout. This review systematically surveys both current ways of generating/adapting the reservoirs and training different types of readouts. It offers a natural conceptual classification of the techniques, which transcends boundaries of the current “brand-names” of reservoir methods, and thus aims to help in unifying the field and providing the reader with a detailed “map” of it.

Empirical Modelling of Genetic Algorithms This paper addresses the problem of reliably setting genetic algorithm parameters for consistent labelling problems. Genetic algorithm parameters are notoriously difficult to determine. This paper proposes a robust empirical framework, based on the analysis of factorial experiments. The use of a graeco-latin square permits an initial study of a wide range of parameter settings. This is followed by fully crossed factorial experiments with narrower ranges, which allow detailed analysis by logistic regression. The empirical models derived can be used to determine optimal algorithm parameters and to shed light on interactions between the parameters and their relative importance. Re-fined models are produced, which are shown to be robust under extrapolation to up to triple the problem size.

Adaptive Consensus Control for a Class of Nonlinear Multiagent Time-Delay Systems Using Neural Networks Because of the complicity of consensus control of nonlinear multiagent systems in state time-delay, most of previous works focused only on linear systems with input time-delay. An adaptive neural network (NN) consensus control method for a class of nonlinear multiagent systems with state time-delay is proposed in this paper. The approximation property of radial basis function neural networks (RBFNNs) is used to neutralize the uncertain nonlinear dynamics in agents. An appropriate Lyapunov-Krasovskii functional, which is obtained from the derivative of an appropriate Lyapunov function, is used to compensate the uncertainties of unknown time delays. It is proved that our proposed approach guarantees the convergence on the basis of Lyapunov stability theory. The simulation results of a nonlinear multiagent time-delay system and a multiple collaborative manipulators system show the effectiveness of the proposed consensus control algorithm.

An efficient scheduling scheme for mobile charger in on-demand wireless rechargeable sensor networks. Existing studies on wireless sensor networks (WSNs) have revealed that the limited battery capacity of sensor nodes (SNs) hinders their perpetual operation. Recent findings in the domain of wireless energy transfer (WET) have attracted a lot of attention of academia and industry to cater the lack of energy in the WSNs. The main idea of WET is to restore the energy of SNs using one or more wireless mobile chargers (MCs), which leads to a new paradigm of wireless rechargeable sensor networks (WRSNs). The determination of an optimal order of charging the SNs (i.e., charging schedule) in an on-demand WRSN is a well-known NP-hard problem. Moreover, care must be taken while designing the charging schedule of an MC as requesting SNs introduce both spatial and temporal constraints. In this paper, we first present a Linear Programming (LP) formulation for the problem of scheduling an MC and then propose an efficient solution based on gravitational search algorithm (GSA). Our method is presented with a novel agent representation scheme and an efficient fitness function. We perform extensive simulations on the proposed scheme to demonstrate its effectiveness over two state-of-the-art algorithms, namely first come first serve (FCFS) and nearest job next with preemption (NJNP). The simulation results reveal that the proposed scheme outperforms both the existing algorithms in terms of charging latency. The virtue of our scheme is also proved by the well-known statistical test, analysis of variance (ANOVA), followed by post hoc analysis.

Hardware Circuits Design and Performance Evaluation of a Soft Lower Limb Exoskeleton Soft lower limb exoskeletons (LLEs) are wearable devices that have good potential in walking rehabilitation and augmentation. While a few studies focused on the structure design and assistance force optimization of the soft LLEs, rarely work has been conducted on the hardware circuits design. The main purpose of this work is to present a new soft LLE for walking efficiency improvement and introduce its hardware circuits design. A soft LLE for hip flexion assistance and a hardware circuits system with scalability were proposed. To assess the efficacy of the soft LLE, the experimental tests that evaluate the sensor data acquisition, force tracking performance, lower limb muscle activity and metabolic cost were conducted. The time error in the peak assistance force was just 1%. The reduction in the normalized root-mean-square EMG of the rectus femoris was 7.1%. The net metabolic cost in exoskeleton on condition was reduced by 7.8% relative to walking with no exoskeleton. The results show that the designed hardware circuits can be applied to the soft LLE and the soft LLE is able to improve walking efficiency of wearers.

Cooperative Network Model for Joint Mobile Sink Scheduling and Dynamic Buffer Management Using Q-Learning Development of energy-efficient wireless sensor networks is crucial in the deployment of IoT and IIoT for modern day applications like smart home, smart vehicles, and smart industries. Several methods like network clustering, mobile sink deployment and dynamic sensing rate have been used in improving the energy-efficiency of wireless sensor networks in IoT framework. However, these methods have been developed independently which can lead to certain network issues like reduced lifetime, network breakdown among others. In this work, an energy-efficient method that optimizes mobile sink scheduling while concurrently providing dynamic buffer management is proposed. A cooperative network model that incorporates node clustering and mobile sink deployment in variable node sensing rate scenario is first developed. However, in such cooperative network models, mobile sink scheduling and buffer overflow management which causes information loss become challenging. This is primarily due to limited buffer size, variable sensing rate of the nodes, and the unavailability of mobile sink at all times near a cluster. Therefore, a reinforcement Q-learning framework is developed for scheduling the mobile sink while minimizing the information loss caused by buffer overflow in each cluster of a clustered WSN. More specifically, the network behaviour is learnt in the context of buffer overflow using Q-learning approach. The proposed method computes the adaptive halt-times for the mobile sink based on information loss and buffer overflow in each cluster. Performance of the proposed joint mobile sink scheduling and dynamic buffer management method is evaluated on a medium scale WSN. A clustered wireless sensor network with a total of 600 sensor nodes is considered for performance evaluation. The proposed method is shown to learn the variable node sensing rate in a reasonable amount of time using convergence analysis. Numeric evaluations indicate that the proposed method minimizes the information loss in a medium scale wireless sensor network while improving the network lifetime simultaneously. The proposed cooperative network model also outperforms in terms of energy-efficiency when compared to conventional WSN. The results are motivating enough for the use of cooperative network model in practical WSNs for IoT applications.

Reliable and Fast Hand-Offs in Low-Power Wireless Networks Hand-off (or hand-over), the process where mobile nodes select the best access point available to transfer data, has been well studied in wireless networks. The performance of a hand-off process depends on the specific characteristics of the wireless links. In the case of low-power wireless networks, hand-off decisions must be carefully taken by considering the unique properties of inexpensive low-power radios. This paper addresses the design, implementation and evaluation of smart-HOP, a hand-off mechanism tailored for low-power wireless networks. This work has three main contributions. First, it formulates the hard hand-off process for low-power networks (such as typical wireless sensor networks - WSNs) with a probabilistic model, to investigate the impact of the most relevant channel parameters through an analytical approach. Second, it confirms the probabilistic model through simulation and further elaborates on the impact of several hand-off parameters. Third, it fine-tunes the most relevant hand-off parameters via an extended set of experiments, in a realistic experimental scenario. The evaluation shows that smart-HOP performs well in the transitional region while achieving more than 98 percent relative delivery ratio and hand-off delays in the order of a few tens of a milliseconds.

An efficient medium access control protocol for WSN-UAV. Recent advances in Unmanned Aerial Vehicle (UAV) technologies have enhanced Wireless Sensor Networks (WSNs) by offering a UAV as a mobile data gathering node. These systems are called WSN-UAV that are well-suited for remote monitoring and emergency applications. Since previous Medium Access Control (MAC) protocols proposed in WSNs are not appropriate in the presence of a UAV, few researches have proposed new MAC protocols to meet WSN-UAV requirements. MAC protocols of WSN-UAV should be extremely efficient and fair due to the time-limited presence of the UAV in the neighborhood of each sensor. However, issues such as high throughput in dense networks, fairness among sensors, and efficiency have not been resolved yet in a satisfactory manner. Moreover, previous works lack analytical evaluation of their protocols. In this paper, we present a novel MAC protocol in WSN-UAV, called Advanced Prioritized MAC (AP-MAC), that can provide high throughput, fairness, and efficiency, especially in dense networks. We also analytically evaluate AP-MAC using a 3-dimensional Markov chain and validate its correctness using simulation. Simulation results under various scenarios confirm that AP-MAC can approximately improve throughput and fairness up to 20% and 25%, respectively, leading to higher efficiency compared with previous work in WSN-UAV systems such as Prioritized Frame Selection (PFS).

Wireless Powered Sensor Networks for Internet of Things: Maximum Throughput and Optimal Power Allocation. This paper investigates a wireless powered sensor network, where multiple sensor nodes are deployed to monitor a certain external environment. A multiantenna power station (PS) provides the power to these sensor nodes during wireless energy transfer phase, and consequently the sensor nodes employ the harvested energy to transmit their own monitoring information to a fusion center during wireless i...

A Compressive Sensing-Based Approach to End-to-End Network Traffic Reconstruction. Estimation of end-to-end network traffic plays an important role in traffic engineering and network planning. The direct measurement of a network&#39;s traffic matrix consumes large amounts of network resources and is thus impractical in most cases. How to accurately construct traffic matrix remains a great challenge. This paper studies end-to-end network traffic reconstruction in large-scale networks...

Edgf: Empirical Dataset Generation Framework For Wireless Sensor Networks In wireless sensor networks (WSNs), simulation practices, system models, algorithms, and protocols have been published worldwide based on the assumption of randomness. The applied statistics used for randomness in WSNs are broad, e.g., random deployment, activity tracking, packet generation, etc. Even though authors' adequate formal and informal information and pledge validation of the proposal became challenging, the minuscule information alteration in implementation and validation can reflect the enormous effect on eventual results. In this proposal, we show how the results are affected by the generalized assumption made on randomness. In sensor node deployment, ambiguity arises due to node error-value (epsilon), and its upper bound in the relative position is estimated to understand the delicacy of diminutives changes. Besides, the effect of uniformity in the traffic and participation of scheduling position of nodes is also generalized. We propose an algorithm to generate the unified dataset for the general and some specific applications system models in WSNs. The results produced by our algorithm reflect the pseudo-randomness and can efficiently regenerate through seed value for validation.

Ring routing: An energy-efficient routing protocol for wireless sensor networks with a mobile sink Mobile sinks are proposed for load-balancing and achieving uniform energy-consumption in wireless sensor networks. However, advertising the location of the mobile sink to the network introduces an overhead in terms of energy consumption and packet delays. In this paper, we propose a new routing protocol, Ring Routing, which aims to minimize this overhead while preserving the advantages of mobile sinks. Simulation results show that the performance of Ring Routing is not very far from the lower bound in terms of delay and energy consumption.

Distributed data mining based on deep neural network for wireless sensor network AbstractAs the sample data of wireless sensor network (WSN) has increased rapidly with more andmore sensors, a centralized data mining solution in a fusion center has encountered the challenges of reducing the fusion center's calculating load and saving the WSN's transmitting power consumption. Rising to these challenges, this paper proposes a distributed data mining method based on deep neural network (DNN), by dividing the deep neural network into different layers and putting them into sensors. By the proposed solution, the distributed data mining calculating units in WSN share much of fusion center's calculating burden. And the power consumption of transmitting the data processed by DNN is much less than transmitting the raw data. Also, a fault detection scenario is built to verify the validity of this method. Results show that the detection rate is 99%, andWSN shares 64.06% of the data mining calculating task with 58.31% reduction of power consumption.

Throughput Optimization for Massive MIMO Systems Powered by Wireless Energy Transfer This paper studies a wireless-energy-transfer (WET) enabled massive multiple-input-multiple-output (MIMO) system (MM) consisting of a hybrid data-and-energy access point (H-AP) and multiple single-antenna users. In the WET-MM system, the H-AP is equipped with a large number M of antennas and functions like a conventional AP in receiving data from users, but additionally supplies wireless power to the users. We consider frame-based transmissions. Each frame is divided into three phases: the uplink channel estimation (CE) phase, the downlink WET phase, as well as the uplink wireless information transmission (WIT) phase. Firstly, users use a fraction of the previously harvested energy to send pilots, while the H-AP estimates the uplink channels and obtains the downlink channels by exploiting channel reciprocity. Next, the H-AP utilizes the channel estimates just obtained to transfer wireless energy to all users in the downlink via energy beamforming. Finally, the users use a portion of the harvested energy to send data to the H-AP simultaneously in the uplink (reserving some harvested energy for sending pilots in the next frame) . To optimize the throughput and ensure rate fairness, we consider the problem of maximizing the minimum rate among all users. In the large-M regime, we obtain the asymptotically optimal solutions and some interesting insights for the optimal design of WET-MM system.

Protecting privacy using the decentralized label model Stronger protection is needed for the confidentiality and integrity of data, because programs containing untrusted code are the rule rather than the exception. Information flow control allows the enforcement of end-to-end security policies, but has been difficult to put into practice. This article describes the decentralized label model, a new label model for control of information flow in systems with mutual distrust and decentralized authority. The model improves on existing multilevel security models by allowing users to declassify information in a decentralized way, and by improving support for fine-grained data sharing. It supports static program analysis of information flow, so that programs can be certified to permit only acceptable information flows, while largely avoiding the overhead of run-time checking. The article introduces the language Jif, an extension to Java that provides static checking of information flow using the decentralized label model.

CellSense: A Probabilistic RSSI-Based GSM Positioning System Context-aware applications have been gaining huge interest in the last few years. With cell phones becoming ubiquitous computing devices, cell phone localization has become an important research problem. In this paper, we present CellSense, a probabilistic RSSI-based fingerprinting location determination system for GSM phones. We discuss the challenges of implementing a probabilistic fingerprinting localization technique in GSM networks and present the details of the CellSense system and how it addresses the challenges. To evaluate our proposed system, we implemented CellSense on Android-based phones. Results for two different testbeds, representing urban and rural environments, show that CellSense provides at least 23.8% enhancement in accuracy in rural areas and at least 86.4% in urban areas compared to other RSSI-based GSM localization systems. This comes with a minimal increase in computational requirements. We also evaluate the effect of changing the different system parameters on the accuracy-complexity tradeoff.

Adaptive Optimal Control of Unknown Constrained-Input Systems Using Policy Iteration and Neural Networks This paper presents an online policy iteration (PI) algorithm to learn the continuous-time optimal control solution for unknown constrained-input systems. The proposed PI algorithm is implemented on an actor-critic structure where two neural networks (NNs) are tuned online and simultaneously to generate the optimal bounded control policy. The requirement of complete knowledge of the system dynamics is obviated by employing a novel NN identifier in conjunction with the actor and critic NNs. It is shown how the identifier weights estimation error affects the convergence of the critic NN. A novel learning rule is developed to guarantee that the identifier weights converge to small neighborhoods of their ideal values exponentially fast. To provide an easy-to-check persistence of excitation condition, the experience replay technique is used. That is, recorded past experiences are used simultaneously with current data for the adaptation of the identifier weights. Stability of the whole system consisting of the actor, critic, system state, and system identifier is guaranteed while all three networks undergo adaptation. Convergence to a near-optimal control law is also shown. The effectiveness of the proposed method is illustrated with a simulation example.

A Hierarchical Latent Structure for Variational Conversation Modeling. Variational autoencoders (VAE) combined with hierarchical RNNs have emerged as a powerful framework for conversation modeling. However, they suffer from the notorious degeneration problem, where the decoders learn to ignore latent variables and reduce to vanilla RNNs. We empirically show that this degeneracy occurs mostly due to two reasons. First, the expressive power of hierarchical RNN decoders is often high enough to model the data using only its decoding distributions without relying on the latent variables. Second, the conditional VAE structure whose generation process is conditioned on a context, makes the range of training targets very sparse; that is, the RNN decoders can easily overfit to the training data ignoring the latent variables. To solve the degeneration problem, we propose a novel model named Variational Hierarchical Conversation RNNs (VHCR), involving two key ideas of (1) using a hierarchical structure of latent variables, and (2) exploiting an utterance drop regularization. With evaluations on two datasets of Cornell Movie Dialog and Ubuntu Dialog Corpus, we show that our VHCR successfully utilizes latent variables and outperforms state-of-the-art models for conversation generation. Moreover, it can perform several new utterance control tasks, thanks to its hierarchical latent structure.

Design and Validation of a Cable-Driven Asymmetric Back Exosuit Lumbar spine injuries caused by repetitive lifting rank as the most prevalent workplace injury in the United States. While these injuries are caused by both symmetric and asymmetric lifting, asymmetric is often more damaging. Many back devices do not address asymmetry, so we present a new system called the Asymmetric Back Exosuit (ABX). The ABX addresses this important gap through unique design geometry and active cable-driven actuation. The suit allows the user to move in a wide range of lumbar trajectories while the “X” pattern cable routing allows variable assistance application for these trajectories. We also conducted a biomechanical analysis in OpenSim to map assistive cable force to effective lumbar torque assistance for a given trajectory, allowing for intuitive controller design in the lumbar joint space over the complex kinematic chain for varying lifting techniques. Human subject experiments illustrated that the ABX reduced lumbar erector spinae muscle activation during symmetric and asymmetric lifting by an average of 37.8% and 16.0%, respectively, compared to lifting without the exosuit. This result indicates the potential for our device to reduce lumbar injury risk.

NLWSNet: a weakly supervised network for visual sentiment analysis in mislabeled web images. Large-scale datasets are driving the rapid developments of deep convolutional neural networks for visual sentiment analysis. However, the annotation of large-scale datasets is expensive and time consuming. Instead, it is easy to obtain weakly labeled web images from the Internet. However, noisy labels still lead to seriously degraded performance when we use images directly from the web for training networks. To address this drawback, we propose an end-to-end weakly supervised learning network, which is robust to mislabeled web images. Specifically, the proposed attention module automatically eliminates the distraction of those samples with incorrect labels by reducing their attention scores in the training process. On the other hand, the special-class activation map module is designed to stimulate the network by focusing on the significant regions from the samples with correct labels in a weakly supervised learning approach. Besides the process of feature learning, applying regularization to the classifier is considered to minimize the distance of those samples within the same class and maximize the distance between different class centroids. Quantitative and qualitative evaluations on well- and mislabeled web image datasets demonstrate that the proposed algorithm outperforms the related methods.

Analysing user physiological responses for affective video summarisation. Video summarisation techniques aim to abstract the most significant content from a video stream. This is typically achieved by processing low-level image, audio and text features which are still quite disparate from the high-level semantics that end users identify with (the ‘semantic gap’). Physiological responses are potentially rich indicators of memorable or emotionally engaging video content for a given user. Consequently, we investigate whether they may serve as a suitable basis for a video summarisation technique by analysing a range of user physiological response measures, specifically electro-dermal response (EDR), respiration amplitude (RA), respiration rate (RR), blood volume pulse (BVP) and heart rate (HR), in response to a range of video content in a variety of genres including horror, comedy, drama, sci-fi and action. We present an analysis framework for processing the user responses to specific sub-segments within a video stream based on percent rank value normalisation. The application of the analysis framework reveals that users respond significantly to the most entertaining video sub-segments in a range of content domains. Specifically, horror content seems to elicit significant EDR, RA, RR and BVP responses, and comedy content elicits comparatively lower levels of EDR, but does seem to elicit significant RA, RR, BVP and HR responses. Drama content seems to elicit less significant physiological responses in general, and both sci-fi and action content seem to elicit significant EDR responses. We discuss the implications this may have for future affective video summarisation approaches.

On the roles of eye gaze and head dynamics in predicting driver's intent to change lanes Driver behavioral cues may present a rich source of information and feedback for future intelligent advanced driver-assistance systems (ADASs). With the design of a simple and robust ADAS in mind, we are interested in determining the most important driver cues for distinguishing driver intent. Eye gaze may provide a more accurate proxy than head movement for determining driver attention, whereas the measurement of head motion is less cumbersome and more reliable in harsh driving conditions. We use a lane-change intent-prediction system (McCall et al., 2007) to determine the relative usefulness of each cue for determining intent. Various combinations of input data are presented to a discriminative classifier, which is trained to output a prediction of probable lane-change maneuver at a particular point in the future. Quantitative results from a naturalistic driving study are presented and show that head motion, when combined with lane position and vehicle dynamics, is a reliable cue for lane-change intent prediction. The addition of eye gaze does not improve performance as much as simpler head dynamics cues. The advantage of head data over eye data is shown to be statistically significant (p

Detection of Driver Fatigue Caused by Sleep Deprivation This paper aims to provide reliable indications of driver drowsiness based on the characteristics of driver-vehicle interaction. A test bed was built under a simulated driving environment, and a total of 12 subjects participated in two experiment sessions requiring different levels of sleep (partial sleep-deprivation versus no sleep-deprivation) before the experiment. The performance of the subjects was analyzed in a series of stimulus-response and routine driving tasks, which revealed the performance differences of drivers under different sleep-deprivation levels. The experiments further demonstrated that sleep deprivation had greater effect on rule-based than on skill-based cognitive functions: when drivers were sleep-deprived, their performance of responding to unexpected disturbances degraded, while they were robust enough to continue the routine driving tasks such as lane tracking, vehicle following, and lane changing. In addition, we presented both qualitative and quantitative guidelines for designing drowsy-driver detection systems in a probabilistic framework based on the paradigm of Bayesian networks. Temporal aspects of drowsiness and individual differences of subjects were addressed in the framework.

Online Prediction of Driver Distraction Based on Brain Activity Patterns This paper presents a new computational framework for early detection of driver distractions (map viewing) using brain activity measured by electroencephalographic (EEG) signals. Compared with most studies in the literature, which are mainly focused on the classification of distracted and nondistracted periods, this study proposes a new framework to prospectively predict the start and end of a distraction period, defined by map viewing. The proposed prediction algorithm was tested on a data set of continuous EEG signals recorded from 24 subjects. During the EEG recordings, the subjects were asked to drive from an initial position to a destination using a city map in a simulated driving environment. The overall accuracy values for the prediction of the start and the end of map viewing were 81% and 70%, respectively. The experimental results demonstrated that the proposed algorithm can predict the start and end of map viewing with relatively high accuracy and can be generalized to individual subjects. The outcome of this study has a high potential to improve the design of future intelligent navigation systems. Prediction of the start of map viewing can be used to provide route information based on a driver's needs and consequently avoid map-viewing activities. Prediction of the end of map viewing can be used to provide warnings for potential long map-viewing durations. Further development of the proposed framework and its applications in driver-distraction predictions are also discussed.

Keep Your Scanners Peeled: Gaze Behavior as a Measure of Automation Trust During Highly Automated Driving. Objective: The feasibility of measuring drivers' automation trust via gaze behavior during highly automated driving was assessed with eye tracking and validated with self-reported automation trust in a driving simulator study. Background: Earlier research from other domains indicates that drivers' automation trust might be inferred from gaze behavior, such as monitoring frequency. Method: The gaze behavior and self-reported automation trust of 35 participants attending to a visually demanding non-driving-related task (NDRT) during highly automated driving was evaluated. The relationship between dispositional, situational, and learned automation trust with gaze behavior was compared. Results: Overall, there was a consistent relationship between drivers' automation trust and gaze behavior. Participants reporting higher automation trust tended to monitor the automation less frequently. Further analyses revealed that higher automation trust was associated with lower monitoring frequency of the automation during NDRTs, and an increase in trust over the experimental session was connected with a decrease in monitoring frequency. Conclusion: We suggest that (a) the current results indicate a negative relationship between drivers' self-reported automation trust and monitoring frequency, (b) gaze behavior provides a more direct measure of automation trust than other behavioral measures, and (c) with further refinement, drivers' automation trust during highly automated driving might be inferred from gaze behavior. Application: Potential applications of this research include the estimation of drivers' automation trust and reliance during highly automated driving.

3D separable convolutional neural network for dynamic hand gesture recognition. •The Frame Difference method is used to pre-process the input in order to filter the background.•A 3D separable CNN is proposed for dynamic gesture recognition. The standard 3D convolution process is decomposed into two processes: 3D depth-wise and 3D point-wise.•By the application of skip connection and layer-wise learning rate, the undesirable gradient dispersion due to the separation operation is solved and the performance of the network is improved.•A dynamic hand gesture library is built through HoloLens.

Cooperative channel assignment for VANETs based on multiagent reinforcement learning. Dynamic channel assignment (DCA) plays a key role in extending vehicular ad-hoc network capacity and mitigating congestion. However, channel assignment under vehicular direct communication scenarios faces mutual influence of large-scale nodes, the lack of centralized coordination, unknown global state information, and other challenges. To solve this problem, a multiagent reinforcement learning (RL) based cooperative DCA (RL-CDCA) mechanism is proposed. Specifically, each vehicular node can successfully learn the proper strategies of channel selection and backoff adaptation from the real-time channel state information (CSI) using two cooperative RL models. In addition, neural networks are constructed as nonlinear Q-function approximators, which facilitates the mapping of the continuously sensed input to the mixed policy output. Nodes are driven to locally share and incorporate their individual rewards such that they can optimize their policies in a distributed collaborative manner. Simulation results show that the proposed multiagent RL-CDCA can better reduce the one-hop packet delay by no less than 73.73%, improve the packet delivery ratio by no less than 12.66% on average in a highly dense situation, and improve the fairness of the global network resource allocation.

Reinforcement learning based data fusion method for multi-sensors In order to improve detection system robustness and reliability, multi-sensors fusion is used in modern air combat. In this paper, a data fusion method based on reinforcement learning is developed for multi-sensors. Initially, the cubic B-spline interpolation is used to solve time alignment problems of multisource data. Then, the reinforcement learning based data fusion (RLBDF) method is proposed to obtain the fusion results. With the case that the priori knowledge of target is obtained, the fusion accuracy reinforcement is realized by the error between fused value and actual value. Furthermore, the Fisher information is instead used as the reward if the priori knowledge is unable to be obtained. Simulations results verify that the developed method is feasible and effective for the multi-sensors data fusion in air combat.

Mobile Edge Computing Enabled 5G Health Monitoring for Internet of Medical Things: A Decentralized Game Theoretic Approach The prompt evolution of Internet of Medical Things (IoMT) promotes pervasive in-home health monitoring networks. However, excessive requirements of patients result in insufficient spectrum resources and communication overload. Mobile Edge Computing (MEC) enabled 5G health monitoring is conceived as a favorable paradigm to tackle such an obstacle. In this paper, we construct a cost-efficient in-home health monitoring system for IoMT by dividing it into two sub-networks, i.e., intra-Wireless Body Area Networks (WBANs) and beyond-WBANs. Highlighting the characteristics of IoMT, the cost of patients depends on medical criticality, Age of Information (AoI) and energy consumption. For intra-WBANs, a cooperative game is formulated to allocate the wireless channel resources. While for beyond-WBANs, considering the individual rationality and potential selfishness, a decentralized non-cooperative game is proposed to minimize the system-wide cost in IoMT. We prove that the proposed algorithm can reach a Nash equilibrium. In addition, the upper bound of the algorithm time complexity and the number of patients benefiting from MEC is theoretically derived. Performance evaluations demonstrate the effectiveness of our proposed algorithm with respect to the system-wide cost and the number of patients benefiting from MEC.

Artificial fish swarm algorithm: a survey of the state-of-the-art, hybridization, combinatorial and indicative applications FSA (artificial fish-swarm algorithm) is one of the best methods of optimization among the swarm intelligence algorithms. This algorithm is inspired by the collective movement of the fish and their various social behaviors. Based on a series of instinctive behaviors, the fish always try to maintain their colonies and accordingly demonstrate intelligent behaviors. Searching for food, immigration and dealing with dangers all happen in a social form and interactions between all fish in a group will result in an intelligent social behavior.This algorithm has many advantages including high convergence speed, flexibility, fault tolerance and high accuracy. This paper is a review of AFSA algorithm and describes the evolution of this algorithm along with all improvements, its combination with various methods as well as its applications. There are many optimization methods which have a affinity with this method and the result of this combination will improve the performance of this method. Its disadvantages include high time complexity, lack of balance between global and local search, in addition to lack of benefiting from the experiences of group members for the next movements.

Short-Term Traffic Flow Forecasting: An Experimental Comparison of Time-Series Analysis and Supervised Learning The literature on short-term traffic flow forecasting has undergone great development recently. Many works, describing a wide variety of different approaches, which very often share similar features and ideas, have been published. However, publications presenting new prediction algorithms usually employ different settings, data sets, and performance measurements, making it difficult to infer a clear picture of the advantages and limitations of each model. The aim of this paper is twofold. First, we review existing approaches to short-term traffic flow forecasting methods under the common view of probabilistic graphical models, presenting an extensive experimental comparison, which proposes a common baseline for their performance analysis and provides the infrastructure to operate on a publicly available data set. Second, we present two new support vector regression models, which are specifically devised to benefit from typical traffic flow seasonality and are shown to represent an interesting compromise between prediction accuracy and computational efficiency. The SARIMA model coupled with a Kalman filter is the most accurate model; however, the proposed seasonal support vector regressor turns out to be highly competitive when performing forecasts during the most congested periods.

TSCA: A Temporal-Spatial Real-Time Charging Scheduling Algorithm for On-Demand Architecture in Wireless Rechargeable Sensor Networks. The collaborative charging issue in Wireless Rechargeable Sensor Networks (WRSNs) is a popular research problem. With the help of wireless power transfer technology, electrical energy can be transferred from wireless charging vehicles (WCVs) to sensors, providing a new paradigm to prolong network lifetime. Existing techniques on collaborative charging usually take the periodical and deterministic approach, but neglect influences of non-deterministic factors such as topological changes and node failures, making them unsuitable for large-scale WRSNs. In this paper, we develop a temporal-spatial charging scheduling algorithm, namely TSCA, for the on-demand charging architecture. We aim to minimize the number of dead nodes while maximizing energy efficiency to prolong network lifetime. First, after gathering charging requests, a WCV will compute a feasible movement solution. A basic path planning algorithm is then introduced to adjust the charging order for better efficiency. Furthermore, optimizations are made in a global level. Then, a node deletion algorithm is developed to remove low efficient charging nodes. Lastly, a node insertion algorithm is executed to avoid the death of abandoned nodes. Extensive simulations show that, compared with state-of-the-art charging scheduling algorithms, our scheme can achieve promising performance in charging throughput, charging efficiency, and other performance metrics.

A novel adaptive dynamic programming based on tracking error for nonlinear discrete-time systems In this paper, to eliminate the tracking error by using adaptive dynamic programming (ADP) algorithms, a novel formulation of the value function is presented for the optimal tracking problem (TP) of nonlinear discrete-time systems. Unlike existing ADP methods, this formulation introduces the control input into the tracking error, and ignores the quadratic form of the control input directly, which makes the boundedness and convergence of the value function independent of the discount factor. Based on the proposed value function, the optimal control policy can be deduced without considering the reference control input. Value iteration (VI) and policy iteration (PI) methods are applied to prove the optimality of the obtained control policy, and derived the monotonicity property and convergence of the iterative value function. Simulation examples realized with neural networks and the actor–critic structure are provided to verify the effectiveness of the proposed ADP algorithm.

Heterogeneous Energy Storage Optimization for Microgrids. As microgrids evolve, it is reasonable to expect that a variety of energy storage systems (ESSs) with different operational characteristics will be used simultaneously. Because each storage system has different capabilities and capacities, they will complement each other, and be able to achieve more efficient and reliable results than if only a single type of system were used. However, integrating...

Control and Optimization of Grid-Tied Photovoltaic Storage Systems Using Model Predictive Control. In this paper, we develop optimization and control methods for a grid-tied photovoltaic (PV) storage system. The storage component consists of two separate units, a large slower moving unit for energy shifting and arbitrage and a small rapid charging unit for smoothing. We use a Model Predictive Control (MPC) framework to allow the units to automatically and dynamically adapt to changes in PV outp...

A Model Predictive Control Approach to Microgrid Operation Optimization. Microgrids are subsystems of the distribution grid, which comprises generation capacities, storage devices, and controllable loads, operating as a single controllable system either connected or isolated from the utility grid. In this paper, we present a study on applying a model predictive control approach to the problem of efficiently optimizing microgrid operations while satisfying a time-varying request and operation constraints. The overall problem is formulated using mixed-integer linear programming (MILP), which can be solved in an efficient way by using commercial solvers without resorting to complex heuristics or decompositions techniques. Then, the MILP formulation leads to significant improvements in solution quality and computational burden. A case study of a microgrid is employed to assess the performance of the online optimization-based control strategy and the simulation results are discussed. The method is applied to an experimental microgrid located in Athens, Greece. The experimental results show the feasibility and the effectiveness of the proposed approach.

A Fully Distributed Power Dispatch Method for Fast Frequency Recovery and Minimal Generation Cost in Autonomous Microgrids This paper describes a fully distributed power dispatch method that can achieve fast frequency recovery and minimal generation cost for autonomous microgrids. The method is comprised of two stages. In the first stage, a subgradient-based consensus algorithm is used to recover frequency. The equal increment rate criteria is incorporated into this algorithm to achieve a minimal regulating cost, obtained by economically distributing power among distributed energy resources. Control signals updated with latest local measurements are executed in each iteration step to speed up the frequency recovery procedure. In the second stage, an average consensus algorithm is applied to resolve frequency oscillations caused by measurement errors. Numerical tests are described to demonstrate the validity of the proposed method and its applicability in the presence of communication time delay is discussed.

Dynamic Energy Management of a Microgrid using Approximate Dynamic Programming and Deep Recurrent Neural Network Learning This paper focuses on economical operation of a microgrid (MG) in real-time. A novel dynamic energy management system is developed to incorporate efficient management of energy storage system into MG real-time dispatch while considering power flow constraints and uncertainties in load, renewable generation and real-time electricity price. The developed dynamic energy management mechanism does not ...

Double Deep $Q$ -Learning-Based Distributed Operation of Battery Energy Storage System Considering Uncertainties <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning-based operation strategies are being recently applied for optimal operation of energy storage systems, where, a <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -table is used to store <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -values for all possible state-action pairs. However, <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning faces challenges when it comes to large state space problems, i.e., continuous state space problems or problems with environment uncertainties. In order to address the limitations of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning, this paper proposes a distributed operation strategy using double deep <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning method. It is applied to managing the operation of a community battery energy storage system (CBESS) in a microgrid system. In contrast to <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning, the proposed operation strategy is capable of dealing with uncertainties in the system in both grid-connected and islanded modes. This is due to the utilization of a deep neural network as a function approximator to estimate the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -values. Moreover, the proposed method can mitigate the overestimation that is the major drawback of the standard deep <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning. The proposed method trains the model faster by decoupling the selection and evaluation processes. Finally, the performance of the proposed double deep <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning-based operation method is evaluated by comparing its results with a centralized approach-based operation.

Wireless sensor networks: a survey This paper describes the concept of sensor networks which has been made viable by the convergence of micro-electro-mechanical systems technology, wireless communications and digital electronics. First, the sensing tasks and the potential sensor networks applications are explored, and a review of factors influencing the design of sensor networks is provided. Then, the communication architecture for sensor networks is outlined, and the algorithms and protocols developed for each layer in the literature are explored. Open research issues for the realization of sensor networks are also discussed.

ImageNet Classification with Deep Convolutional Neural Networks. We trained a large, deep convolutional neural network to classify the 1.2 million high-resolution images in the ImageNet LSVRC-2010 contest into the 1000 different classes. On the test data, we achieved top-1 and top-5 error rates of 37.5% and 17.0%, respectively, which is considerably better than the previous state-of-the-art. The neural network, which has 60 million parameters and 650,000 neurons, consists of five convolutional layers, some of which are followed by max-pooling layers, and three fully connected layers with a final 1000-way softmax. To make training faster, we used non-saturating neurons and a very efficient GPU implementation of the convolution operation. To reduce overfitting in the fully connected layers we employed a recently developed regularization method called \"dropout\" that proved to be very effective. We also entered a variant of this model in the ILSVRC-2012 competition and achieved a winning top-5 test error rate of 15.3%, compared to 26.2% achieved by the second-best entry.

BeCome: Blockchain-Enabled Computation Offloading for IoT in Mobile Edge Computing Benefiting from the real-time processing ability of edge computing, computing tasks requested by smart devices in the Internet of Things are offloaded to edge computing devices (ECDs) for implementation. However, ECDs are often overloaded or underloaded with disproportionate resource requests. In addition, during the process of task offloading, the transmitted information is vulnerable, which can result in data incompleteness. In view of this challenge, a blockchain-enabled computation offloading method, named BeCome, is proposed in this article. Blockchain technology is employed in edge computing to ensure data integrity. Then, the nondominated sorting genetic algorithm III is adopted to generate strategies for balanced resource allocation. Furthermore, simple additive weighting and multicriteria decision making are utilized to identify the optimal offloading strategy. Finally, performance evaluations of BeCome are given through simulation experiments.

Collaborative privacy management The landscape of the World Wide Web with all its versatile services heavily relies on the disclosure of private user information. Unfortunately, the growing amount of personal data collected by service providers poses a significant privacy threat for Internet users. Targeting growing privacy concerns of users, privacy-enhancing technologies emerged. One goal of these technologies is the provision of tools that facilitate a more informative decision about personal data disclosures. A famous PET representative is the PRIME project that aims for a holistic privacy-enhancing identity management system. However, approaches like the PRIME privacy architecture require service providers to change their server infrastructure and add specific privacy-enhancing components. In the near future, service providers are not expected to alter internal processes. Addressing the dependency on service providers, this paper introduces a user-centric privacy architecture that enables the provider-independent protection of personal data. A central component of the proposed privacy infrastructure is an online privacy community, which facilitates the open exchange of privacy-related information about service providers. We characterize the benefits and the potentials of our proposed solution and evaluate a prototypical implementation.

Data-Driven Intelligent Transportation Systems: A Survey For the last two decades, intelligent transportation systems (ITS) have emerged as an efficient way of improving the performance of transportation systems, enhancing travel security, and providing more choices to travelers. A significant change in ITS in recent years is that much more data are collected from a variety of sources and can be processed into various forms for different stakeholders. The availability of a large amount of data can potentially lead to a revolution in ITS development, changing an ITS from a conventional technology-driven system into a more powerful multifunctional data-driven intelligent transportation system (D2ITS) : a system that is vision, multisource, and learning algorithm driven to optimize its performance. Furthermore, D2ITS is trending to become a privacy-aware people-centric more intelligent system. In this paper, we provide a survey on the development of D2ITS, discussing the functionality of its key components and some deployment issues associated with D2ITS Future research directions for the development of D2ITS is also presented.

Completely Pinpointing the Missing RFID Tags in a Time-Efficient Way Radio Frequency Identification (RFID) technology has been widely used in inventory management in many scenarios, e.g., warehouses, retail stores, hospitals, etc. This paper investigates a challenging problem of complete identification of missing tags in large-scale RFID systems. Although this problem has attracted extensive attention from academy and industry, the existing work can hardly satisfy the stringent real-time requirements. In this paper, a Slot Filter-based Missing Tag Identification (SFMTI) protocol is proposed to reconcile some expected collision slots into singleton slots and filter out the expected empty slots as well as the unreconcilable collision slots, thereby achieving the improved time-efficiency. The theoretical analysis is conducted to minimize the execution time of the proposed SFMTI. We then propose a cost-effective method to extend SFMTI to the multi-reader scenarios. The extensive simulation experiments and performance results demonstrate that the proposed SFMTI protocol outperforms the most promising Iterative ID-free Protocol (IIP) by reducing nearly 45% of the required execution time, and is just within a factor of 1.18 from the lower bound of the minimum execution time.

Neural network adaptive tracking control for a class of uncertain switched nonlinear systems. •Study the method of the tracking control of the switched uncertain nonlinear systems under arbitrary switching signal controller.•A multilayer neural network adaptive controller with multilayer weight norm adaptive estimation is been designed.•The adaptive law is expand from calculation the second layer weight of neural network to both of the two layers weight.•The controller proposed improve the tracking error performance of the closed-loop system greatly.

A Hierarchical Architecture Using Biased Min-Consensus for USV Path Planning This paper proposes a hierarchical architecture using the biased min-consensus (BMC) method, to solve the path planning problem of unmanned surface vessel (USV). We take the fixed-point monitoring mission as an example, where a series of intermediate monitoring points should be visited once by USV. The whole framework incorporates the low-level layer planning the standard path between any two intermediate points, and the high-level fashion determining their visiting sequence. First, the optimal standard path in terms of voyage time and risk measure is planned by the BMC protocol, given that the corresponding graph is constructed with node state and edge weight. The USV will avoid obstacles or keep a certain distance safely, and arrive at the target point quickly. It is proven theoretically that the state of the graph will converge to be stable after finite iterations, i.e., the optimal solution can be found by BMC with low calculation complexity. Second, by incorporating the constraint of intermediate points, their visiting sequence is optimized by BMC again with the reconstruction of a new virtual graph based on the former planned results. The extensive simulation results in various scenarios also validate the feasibility and effectiveness of our method for autonomous navigation.

Financial time series prediction using a dendritic neuron model. As a complicated dynamic system, financial time series calls for an appropriate forecasting model. In this study, we propose a neuron model based on dendritic mechanisms and a phase space reconstruction (PSR) to analyze the Shanghai Stock Exchange Composite Index, Deutscher Aktienindex, N225, and DJI Average. The PSR allows us to reconstruct the financial time series, so we can prove that attractors exist for the systems constructed. Thus, the attractors obtained can be observed intuitively in a three-dimensional search space, thereby allowing us to analyze the characteristics of dynamic systems. In addition, using the reconstructed phase space, we confirmed the chaotic properties and the reciprocal to determine the limit of prediction through the maximum Lyapunov exponent. We also made short-term predictions based on the nonlinear approximating dendritic neuron model, where the experimental results showed that the proposed methodology which hybridizes PSR and the dendritic model performed better than traditional multi-layered perceptron, the Elman neural network, the single multiplicative neuron model and the neuro-fuzzy inference system in terms of prediction accuracy and training time. Hopefully, this hybrid technology is capable to advance the research for financial time series and provide an effective solution to risk management.

A study on the use of statistical tests for experimentation with neural networks: Analysis of parametric test conditions and non-parametric tests In this paper, we focus on the experimental analysis on the performance in artificial neural networks with the use of statistical tests on the classification task. Particularly, we have studied whether the sample of results from multiple trials obtained by conventional artificial neural networks and support vector machines checks the necessary conditions for being analyzed through parametrical tests. The study is conducted by considering three possibilities on classification experiments: random variation in the selection of test data, the selection of training data and internal randomness in the learning algorithm. The results obtained state that the fulfillment of these conditions are problem-dependent and indefinite, which justifies the need of using non-parametric statistics in the experimental analysis.

A Multi-Layered Immune System For Graph Planarization Problem This paper presents a new multi-layered artificial immune system architecture using the ideas generated from the biological immune system for solving combinatorial optimization problems. The proposed methodology is composed of five layers. After expressing the problem as, a suitable representation in the first layer, the search space and the features of the problem are estimated and extracted in the second and third layers, respectively. Through taking advantage of the minimized search space from estimation and the heuristic information from extraction, the antibodies (or solutions) are evolved in the fourth layer and finally the fittest antibody is exported. In order to demonstrate the efficiency of the proposed system, the graph planarization problem is tested. Simulation results based on several benchmark instances show that the proposed algorithm performs better than traditional algorithms.

From evolutionary computation to the evolution of things Evolution has provided a source of inspiration for algorithm designers since the birth of computers. The resulting field, evolutionary computation, has been successful in solving engineering tasks ranging in outlook from the molecular to the astronomical. Today, the field is entering a new phase as evolutionary algorithms that take place in hardware are developed, opening up new avenues towards autonomous machines that can adapt to their environment. We discuss how evolutionary computation compares with natural evolution and what its benefits are relative to other computing approaches, and we introduce the emerging area of artificial evolution in physical systems.

Implementing a GPU-based parallel MAX-MIN Ant System The MAX–MIN Ant System (MMAS) is one of the best-known Ant Colony Optimization (ACO) algorithms proven to be efficient at finding satisfactory solutions to many difficult combinatorial optimization problems. The slow-down in Moore’s law, and the availability of graphics processing units (GPUs) capable of conducting general-purpose computations at high speed, has sparked considerable research efforts into the development of GPU-based ACO implementations. In this paper, we discuss a range of novel ideas for improving the GPU-based parallel MMAS implementation, allowing it to better utilize the computing power offered by two subsequent Nvidia GPU architectures. Specifically, based on the weighted reservoir sampling algorithm we propose a novel parallel implementation of the node selection procedure, which is at the heart of the MMAS and other ACO algorithms. We also present a memory-efficient implementation of another key-component – the tabu list structure – which is used in the ACO’s solution construction stage. The proposed implementations, combined with the existing approaches, lead to a total of six MMAS variants, which are evaluated on a set of Traveling Salesman Problem (TSP) instances ranging from 198 to 3795 cities. The results show that our MMAS implementation is competitive with state-of-the-art GPU-based and multi-core CPU-based parallel ACO implementations: in fact, the times obtained for the Nvidia V100 Volta GPU were up to 7.18x and 21.79x smaller, respectively. The fastest of the proposed MMAS variants is able to generate over 1 million candidate solutions per second when solving a 1002-city instance. Moreover, we show that, combined with the 2-opt local search heuristic, the proposed parallel MMAS finds high-quality solutions for the TSP instances with up to 18,512 nodes.

Application of Improved Differential Evolution Algorithm in Solving Equations The problem of finding roots of equations has always been an important research problem in the fields of scientific and engineering calculations. For the standard differential evolution algorithm cannot balance the convergence speed and the accuracy of the solution, an improved differential evolution algorithm is proposed. First, the one-half rule is introduced in the mutation process, that is, half of the individuals perform differential evolutionary mutation, and the other half perform evolutionary strategy reorganization, which increases the diversity of the population and avoids premature convergence of the algorithm; Second, set up an adaptive mutation operator and a crossover operator to prevent the algorithm from falling into the local optimum and improve the accuracy of the solution. Finally, classical high-order algebraic equations and nonlinear equations are selected for testing, and compared with other algorithms. The results show that the improved algorithm has higher solution accuracy and robustness, and has a faster convergence speed. It has outstanding effects in finding roots of equations, and provides an effective method for engineering and scientific calculations.

New inspirations in swarm intelligence: a survey The growing complexity of real-world problems has motivated computer scientists to search for efficient problem-solving methods. Evolutionary computation and swarm intelligence meta-heuristics are outstanding examples that nature has been an unending source of inspiration. The behaviour of bees, bacteria, glow-worms, fireflies, slime moulds, cockroaches, mosquitoes and other organisms have inspired swarm intelligence researchers to devise new optimisation algorithms. This tutorial highlights the most recent nature-based inspirations as metaphors for swarm intelligence meta-heuristics. We describe the biological behaviours from which a number of computational algorithms were developed. Also, the most recent and important applications and the main features of such meta-heuristics are reported.

Swarm Intelligence: From Natural to Artificial Systems

Factual and Counterfactual Explanations for Black Box Decision Making. The rise of sophisticated machine learning models has brought accurate but obscure decision systems, which hide their logic, thus undermining transparency, trust, and the adoption of artificial intelligence (AI) in socially sensitive and safety-critical contexts. We introduce a local rule-based explanation method, providing faithful explanations of the decision made by a black box classifier on a ...

A vector-perturbation technique for near-capacity multiantenna multiuser communication-part I: channel inversion and regularization Recent theoretical results describing the sum capacity when using multiple antennas to communicate with multiple users in a known rich scattering environment have not yet been followed with practical transmission schemes that achieve this capacity. We introduce a simple encoding algorithm that achieves near-capacity at sum rates of tens of bits/channel use. The algorithm is a variation on channel inversion that regularizes the inverse and uses a "sphere encoder" to perturb the data to reduce the power of the transmitted signal. This work is comprised of two parts. In this first part, we show that while the sum capacity grows linearly with the minimum of the number of antennas and users, the sum rate of channel inversion does not. This poor performance is due to the large spread in the singular values of the channel matrix. We introduce regularization to improve the condition of the inverse and maximize the signal-to-interference-plus-noise ratio at the receivers. Regularization enables linear growth and works especially well at low signal-to-noise ratios (SNRs), but as we show in the second part, an additional step is needed to achieve near-capacity performance at all SNRs.

RFID-based techniques for human-activity detection The iBracelet and the Wireless Identification and Sensing Platform promise the ability to infer human activity directly from sensor readings.

Snow walking: motion-limiting device that reproduces the experience of walking in deep snow We propose \"Snow Walking,\" a boot-shaped device that reproduces the experience of walking in deep snow. The main purpose of this study is reproducing the feel of walking in a unique environment that we do not experience daily, particularly one that has depth, such as of deep snow. When you walk in deep snow, you get three feelings: the feel of pulling your foot up from the deep snow, the feel of putting your foot down into the deep snow, and the feel of your feet crunching across the bottom of deep snow. You cannot walk in deep snow easily, and with the system, you get a unique feeling not only on the sole of your foot but as if your entire foot is buried in the snow. We reproduce these feelings by using a slider, electromagnet, vibration speaker, a hook and loop fastener, and potato starch.

Applications of Deep Reinforcement Learning in Communications and Networking: A Survey. This paper presents a comprehensive literature review on applications of deep reinforcement learning (DRL) in communications and networking. Modern networks, e.g., Internet of Things (IoT) and unmanned aerial vehicle (UAV) networks, become more decentralized and autonomous. In such networks, network entities need to make decisions locally to maximize the network performance under uncertainty of network environment. Reinforcement learning has been efficiently used to enable the network entities to obtain the optimal policy including, e.g., decisions or actions, given their states when the state and action spaces are small. However, in complex and large-scale networks, the state and action spaces are usually large, and the reinforcement learning may not be able to find the optimal policy in reasonable time. Therefore, DRL, a combination of reinforcement learning with deep learning, has been developed to overcome the shortcomings. In this survey, we first give a tutorial of DRL from fundamental concepts to advanced models. Then, we review DRL approaches proposed to address emerging issues in communications and networking. The issues include dynamic network access, data rate control, wireless caching, data offloading, network security, and connectivity preservation which are all important to next generation networks, such as 5G and beyond. Furthermore, we present applications of DRL for traffic routing, resource sharing, and data collection. Finally, we highlight important challenges, open issues, and future research directions of applying DRL.

Energy harvesting algorithm considering max flow problem in wireless sensor networks. In Wireless Sensor Networks (WSNs), sensor nodes with poor energy always have bad effect on the data rate or max flow. These nodes are called bottleneck nodes. In this paper, in order to increase the max flow, we assume an energy harvesting WSNs environment to investigate the cooperation of multiple Mobile Chargers (MCs). MCs are mobile robots that use wireless charging technology to charge sensor nodes in WSNs. This means that in energy harvesting WSNs environments, sensor nodes can obtain energy replenishment by using MCs or collecting energy from nature by themselves. In our research, we use MCs to improve the energy of the sensor nodes by performing multiple rounds of unified scheduling, and finally achieve the purpose of increasing the max flow at sinks. Firstly, we model this problem as a Linear Programming (LP) to search the max flow in a round of charging scheduling and prove that the problem is NP-hard. In order to solve the problem, we propose a heuristic approach: deploying MCs in units of paths with the lowest energy node priority. To reduce the energy consumption of MCs and increase the charging efficiency, we also take the optimization of MCs’ moving distance into our consideration. Finally, we extend the method to multiple rounds of scheduling called BottleNeck. Simulation results show that Bottleneck performs well at increasing max flow.

Control and Optimization of Grid-Tied Photovoltaic Storage Systems Using Model Predictive Control. In this paper, we develop optimization and control methods for a grid-tied photovoltaic (PV) storage system. The storage component consists of two separate units, a large slower moving unit for energy shifting and arbitrage and a small rapid charging unit for smoothing. We use a Model Predictive Control (MPC) framework to allow the units to automatically and dynamically adapt to changes in PV outp...

A Model Predictive Control Approach to Microgrid Operation Optimization. Microgrids are subsystems of the distribution grid, which comprises generation capacities, storage devices, and controllable loads, operating as a single controllable system either connected or isolated from the utility grid. In this paper, we present a study on applying a model predictive control approach to the problem of efficiently optimizing microgrid operations while satisfying a time-varying request and operation constraints. The overall problem is formulated using mixed-integer linear programming (MILP), which can be solved in an efficient way by using commercial solvers without resorting to complex heuristics or decompositions techniques. Then, the MILP formulation leads to significant improvements in solution quality and computational burden. A case study of a microgrid is employed to assess the performance of the online optimization-based control strategy and the simulation results are discussed. The method is applied to an experimental microgrid located in Athens, Greece. The experimental results show the feasibility and the effectiveness of the proposed approach.

Real-Time Energy Storage Management for Renewable Integration in Microgrid: An Off-Line Optimization Approach Microgrid is a key enabling solution to future smart grids by integrating distributed renewable generators and storage systems to efficiently serve the local demand. However, due to the random and intermittent characteristics of renewable energy, new challenges arise for the reliable operation of microgrids. To address this issue, we study in this paper the real-time energy management for a single microgrid system that constitutes a renewable generation system, an energy storage system, and an aggregated load. We model the renewable energy offset by the load over time, termed net energy profile, to be practically predictable, but with finite errors that can be arbitrarily distributed. We aim to minimize the total energy cost (modeled as sum of time-varying strictly convex functions) of the conventional energy drawn from the main grid over a finite horizon by jointly optimizing the energy charged/discharged to/from the storage system over time subject to practical load and storage constraints. To solve this problem in real time, we propose a new off-line optimization approach to devise the online algorithm. In this approach, we first assume that the net energy profile is perfectly predicted or known ahead of time, under which we derive the optimal off-line energy scheduling solution in closed-form. Next, inspired by the optimal off-line solution, we propose a sliding-window based online algorithm for real-time energy management under the practical setup of noisy predicted net energy profile with arbitrary errors. Finally, we conduct simulations based on the real wind generation data of the Ireland power system to evaluate the performance of our proposed algorithm, as compared with other heuristically designed algorithms, as well as the conventional dynamic programming based solution.

Dynamic Energy Management System for a Smart Microgrid. This paper presents the development of an intelligent dynamic energy management system (I-DEMS) for a smart microgrid. An evolutionary adaptive dynamic programming and reinforcement learning framework is introduced for evolving the I-DEMS online. The I-DEMS is an optimal or near-optimal DEMS capable of performing grid-connected and islanded microgrid operations. The primary sources of energy are s...

Dynamic Energy Management of a Microgrid using Approximate Dynamic Programming and Deep Recurrent Neural Network Learning This paper focuses on economical operation of a microgrid (MG) in real-time. A novel dynamic energy management system is developed to incorporate efficient management of energy storage system into MG real-time dispatch while considering power flow constraints and uncertainties in load, renewable generation and real-time electricity price. The developed dynamic energy management mechanism does not ...

Double Deep $Q$ -Learning-Based Distributed Operation of Battery Energy Storage System Considering Uncertainties <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning-based operation strategies are being recently applied for optimal operation of energy storage systems, where, a <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -table is used to store <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -values for all possible state-action pairs. However, <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning faces challenges when it comes to large state space problems, i.e., continuous state space problems or problems with environment uncertainties. In order to address the limitations of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning, this paper proposes a distributed operation strategy using double deep <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning method. It is applied to managing the operation of a community battery energy storage system (CBESS) in a microgrid system. In contrast to <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning, the proposed operation strategy is capable of dealing with uncertainties in the system in both grid-connected and islanded modes. This is due to the utilization of a deep neural network as a function approximator to estimate the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -values. Moreover, the proposed method can mitigate the overestimation that is the major drawback of the standard deep <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning. The proposed method trains the model faster by decoupling the selection and evaluation processes. Finally, the performance of the proposed double deep <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$Q$ </tex-math></inline-formula> -learning-based operation method is evaluated by comparing its results with a centralized approach-based operation.

Wireless sensor networks: a survey This paper describes the concept of sensor networks which has been made viable by the convergence of micro-electro-mechanical systems technology, wireless communications and digital electronics. First, the sensing tasks and the potential sensor networks applications are explored, and a review of factors influencing the design of sensor networks is provided. Then, the communication architecture for sensor networks is outlined, and the algorithms and protocols developed for each layer in the literature are explored. Open research issues for the realization of sensor networks are also discussed.

ImageNet Classification with Deep Convolutional Neural Networks. We trained a large, deep convolutional neural network to classify the 1.2 million high-resolution images in the ImageNet LSVRC-2010 contest into the 1000 different classes. On the test data, we achieved top-1 and top-5 error rates of 37.5% and 17.0%, respectively, which is considerably better than the previous state-of-the-art. The neural network, which has 60 million parameters and 650,000 neurons, consists of five convolutional layers, some of which are followed by max-pooling layers, and three fully connected layers with a final 1000-way softmax. To make training faster, we used non-saturating neurons and a very efficient GPU implementation of the convolution operation. To reduce overfitting in the fully connected layers we employed a recently developed regularization method called \"dropout\" that proved to be very effective. We also entered a variant of this model in the ILSVRC-2012 competition and achieved a winning top-5 test error rate of 15.3%, compared to 26.2% achieved by the second-best entry.

BeCome: Blockchain-Enabled Computation Offloading for IoT in Mobile Edge Computing Benefiting from the real-time processing ability of edge computing, computing tasks requested by smart devices in the Internet of Things are offloaded to edge computing devices (ECDs) for implementation. However, ECDs are often overloaded or underloaded with disproportionate resource requests. In addition, during the process of task offloading, the transmitted information is vulnerable, which can result in data incompleteness. In view of this challenge, a blockchain-enabled computation offloading method, named BeCome, is proposed in this article. Blockchain technology is employed in edge computing to ensure data integrity. Then, the nondominated sorting genetic algorithm III is adopted to generate strategies for balanced resource allocation. Furthermore, simple additive weighting and multicriteria decision making are utilized to identify the optimal offloading strategy. Finally, performance evaluations of BeCome are given through simulation experiments.

Collaborative privacy management The landscape of the World Wide Web with all its versatile services heavily relies on the disclosure of private user information. Unfortunately, the growing amount of personal data collected by service providers poses a significant privacy threat for Internet users. Targeting growing privacy concerns of users, privacy-enhancing technologies emerged. One goal of these technologies is the provision of tools that facilitate a more informative decision about personal data disclosures. A famous PET representative is the PRIME project that aims for a holistic privacy-enhancing identity management system. However, approaches like the PRIME privacy architecture require service providers to change their server infrastructure and add specific privacy-enhancing components. In the near future, service providers are not expected to alter internal processes. Addressing the dependency on service providers, this paper introduces a user-centric privacy architecture that enables the provider-independent protection of personal data. A central component of the proposed privacy infrastructure is an online privacy community, which facilitates the open exchange of privacy-related information about service providers. We characterize the benefits and the potentials of our proposed solution and evaluate a prototypical implementation.

Data-Driven Intelligent Transportation Systems: A Survey For the last two decades, intelligent transportation systems (ITS) have emerged as an efficient way of improving the performance of transportation systems, enhancing travel security, and providing more choices to travelers. A significant change in ITS in recent years is that much more data are collected from a variety of sources and can be processed into various forms for different stakeholders. The availability of a large amount of data can potentially lead to a revolution in ITS development, changing an ITS from a conventional technology-driven system into a more powerful multifunctional data-driven intelligent transportation system (D2ITS) : a system that is vision, multisource, and learning algorithm driven to optimize its performance. Furthermore, D2ITS is trending to become a privacy-aware people-centric more intelligent system. In this paper, we provide a survey on the development of D2ITS, discussing the functionality of its key components and some deployment issues associated with D2ITS Future research directions for the development of D2ITS is also presented.

Completely Pinpointing the Missing RFID Tags in a Time-Efficient Way Radio Frequency Identification (RFID) technology has been widely used in inventory management in many scenarios, e.g., warehouses, retail stores, hospitals, etc. This paper investigates a challenging problem of complete identification of missing tags in large-scale RFID systems. Although this problem has attracted extensive attention from academy and industry, the existing work can hardly satisfy the stringent real-time requirements. In this paper, a Slot Filter-based Missing Tag Identification (SFMTI) protocol is proposed to reconcile some expected collision slots into singleton slots and filter out the expected empty slots as well as the unreconcilable collision slots, thereby achieving the improved time-efficiency. The theoretical analysis is conducted to minimize the execution time of the proposed SFMTI. We then propose a cost-effective method to extend SFMTI to the multi-reader scenarios. The extensive simulation experiments and performance results demonstrate that the proposed SFMTI protocol outperforms the most promising Iterative ID-free Protocol (IIP) by reducing nearly 45% of the required execution time, and is just within a factor of 1.18 from the lower bound of the minimum execution time.

Neural network adaptive tracking control for a class of uncertain switched nonlinear systems. •Study the method of the tracking control of the switched uncertain nonlinear systems under arbitrary switching signal controller.•A multilayer neural network adaptive controller with multilayer weight norm adaptive estimation is been designed.•The adaptive law is expand from calculation the second layer weight of neural network to both of the two layers weight.•The controller proposed improve the tracking error performance of the closed-loop system greatly.

A Hierarchical Architecture Using Biased Min-Consensus for USV Path Planning This paper proposes a hierarchical architecture using the biased min-consensus (BMC) method, to solve the path planning problem of unmanned surface vessel (USV). We take the fixed-point monitoring mission as an example, where a series of intermediate monitoring points should be visited once by USV. The whole framework incorporates the low-level layer planning the standard path between any two intermediate points, and the high-level fashion determining their visiting sequence. First, the optimal standard path in terms of voyage time and risk measure is planned by the BMC protocol, given that the corresponding graph is constructed with node state and edge weight. The USV will avoid obstacles or keep a certain distance safely, and arrive at the target point quickly. It is proven theoretically that the state of the graph will converge to be stable after finite iterations, i.e., the optimal solution can be found by BMC with low calculation complexity. Second, by incorporating the constraint of intermediate points, their visiting sequence is optimized by BMC again with the reconstruction of a new virtual graph based on the former planned results. The extensive simulation results in various scenarios also validate the feasibility and effectiveness of our method for autonomous navigation.

Model-Driven Availability Assessment of the NFV-MANO With Software Rejuvenation Network Function Virtualization enables network operators to modernize their networks with greater elasticity, network programmability, and scalability. Exploiting these advantages requires new and specialized designs for management, automation, and orchestration systems which are capable of reliably operating and handling new elements such as virtual functions, virtualized infrastructures, and a ...

Analysis of Software Aging in a Web Server Several recent studies have reported & examined the phenomenon that long-running software systems show an increasing failure rate and/or a progressive degradation of their performance. Causes of this phenomenon, which has been referred to as &#34;software aging&#34;, are the accumulation of internal error conditions, and the depletion of operating system resources. A proactive technique called &#34;software r...

Container Network Functions: Bringing NFV to the Network Edge. In order to cope with the increasing network utilization driven by new mobile clients, and to satisfy demand for new network services and performance guarantees, telecommunication service providers are exploiting virtualization over their network by implementing network services in virtual machines, decoupled from legacy hardware accelerated appliances. This effort, known as NFV, reduces OPEX and ...

Reliability-Aware Service Chaining In Carrier-Grade Softwarized Networks. Network Function Virtualization (NFV) has revolutionized service provisioning in cloud datacenter networks. It enables the complete decoupling of Network Functions (NFs) from the physical hardware middle boxes that network operators deploy for implementing service-specific and strictly ordered NF chains. Precisely, NFV allows for dispatching NFs as instances of plain software called virtual networ...

Analyzing Software Rejuvenation Techniques in a Virtualized System: Service Provider and User Views Virtualization technology has promoted the fast development and deployment of cloud computing, and is now becoming an enabler of Internet of Everything. Virtual machine monitor (VMM), playing a critical role in a virtualized system, is software and hence it suffers from software aging after a long continuous running as well as software crashes due to elusive faults. Software rejuvenation techniques can be adopted to reduce the impact of software aging. Although there existed analytical model-based approaches for evaluating software rejuvenation techniques, none analyzed both application service (AS) availability and job completion time in a virtualized system with live virtual machine (VM) migration. This paper aims to quantitatively analyze software rejuvenation techniques from service provider and user views in a virtualized system deploying VMM reboot and live VM migration techniques for rejuvenation, under the condition that all the aging time, failure time, VMM fixing time and live VM migration time follow general distributions. We construct an analytical model by using a semi-Markov process (SMP) and derive formulas for calculating AS availability and job completion time. By analytical experiments, we can obtain the optimal migration trigger intervals for achieving the approximate maximum AS availability and the approximate minimum job completion time, and then service providers can make decisions for maximizing the benefits of service providers and users by adjusting parameter values.

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Massive MIMO for next generation wireless systems Multi-user MIMO offers big advantages over conventional point-to-point MIMO: it works with cheap single-antenna terminals, a rich scattering environment is not required, and resource allocation is simplified because every active terminal utilizes all of the time-frequency bins. However, multi-user MIMO, as originally envisioned, with roughly equal numbers of service antennas and terminals and frequency-division duplex operation, is not a scalable technology. Massive MIMO (also known as large-scale antenna systems, very large MIMO, hyper MIMO, full-dimension MIMO, and ARGOS) makes a clean break with current practice through the use of a large excess of service antennas over active terminals and time-division duplex operation. Extra antennas help by focusing energy into ever smaller regions of space to bring huge improvements in throughput and radiated energy efficiency. Other benefits of massive MIMO include extensive use of inexpensive low-power components, reduced latency, simplification of the MAC layer, and robustness against intentional jamming. The anticipated throughput depends on the propagation environment providing asymptotically orthogonal channels to the terminals, but so far experiments have not disclosed any limitations in this regard. While massive MIMO renders many traditional research problems irrelevant, it uncovers entirely new problems that urgently need attention: the challenge of making many low-cost low-precision components that work effectively together, acquisition and synchronization for newly joined terminals, the exploitation of extra degrees of freedom provided by the excess of service antennas, reducing internal power consumption to achieve total energy efficiency reductions, and finding new deployment scenarios. This article presents an overview of the massive MIMO concept and contemporary research on the topic.

Deep Residual Learning for Image Recognition Deeper neural networks are more difficult to train. We present a residual learning framework to ease the training of networks that are substantially deeper than those used previously. We explicitly reformulate the layers as learning residual functions with reference to the layer inputs, instead of learning unreferenced functions. We provide comprehensive empirical evidence showing that these residual networks are easier to optimize, and can gain accuracy from considerably increased depth. On the ImageNet dataset we evaluate residual nets with a depth of up to 152 layers - 8× deeper than VGG nets [40] but still having lower complexity. An ensemble of these residual nets achieves 3.57% error on the ImageNet test set. This result won the 1st place on the ILSVRC 2015 classification task. We also present analysis on CIFAR-10 with 100 and 1000 layers. The depth of representations is of central importance for many visual recognition tasks. Solely due to our extremely deep representations, we obtain a 28% relative improvement on the COCO object detection dataset. Deep residual nets are foundations of our submissions to ILSVRC & COCO 2015 competitions1, where we also won the 1st places on the tasks of ImageNet detection, ImageNet localization, COCO detection, and COCO segmentation.

Communication theory of secrecy systems THE problems of cryptography and secrecy systems furnish an interesting application of communication theory.1 In this paper a theory of secrecy systems is developed. The approach is on a theoretical level and is intended to complement the treatment found in standard works on cryptography.2 There, a detailed study is made of the many standard types of codes and ciphers, and of the ways of breaking them. We will be more concerned with the general mathematical structure and properties of secrecy systems.

A study on the use of non-parametric tests for analyzing the evolutionary algorithms' behaviour: a case study on the CEC'2005 Special Session on Real Parameter Optimization In recent years, there has been a growing interest for the experimental analysis in the field of evolutionary algorithms. It is noticeable due to the existence of numerous papers which analyze and propose different types of problems, such as the basis for experimental comparisons of algorithms, proposals of different methodologies in comparison or proposals of use of different statistical techniques in algorithms’ comparison.In this paper, we focus our study on the use of statistical techniques in the analysis of evolutionary algorithms’ behaviour over optimization problems. A study about the required conditions for statistical analysis of the results is presented by using some models of evolutionary algorithms for real-coding optimization. This study is conducted in two ways: single-problem analysis and multiple-problem analysis. The results obtained state that a parametric statistical analysis could not be appropriate specially when we deal with multiple-problem results. In multiple-problem analysis, we propose the use of non-parametric statistical tests given that they are less restrictive than parametric ones and they can be used over small size samples of results. As a case study, we analyze the published results for the algorithms presented in the CEC’2005 Special Session on Real Parameter Optimization by using non-parametric test procedures.

Implementing Vehicle Routing Algorithms

Switching Stabilization for a Class of Slowly Switched Systems In this technical note, the problem of switching stabilization for slowly switched linear systems is investigated. In particular, the considered systems can be composed of all unstable subsystems. Based on the invariant subspace theory, the switching signal with mode-dependent average dwell time (MDADT) property is designed to exponentially stabilize the underlying system. Furthermore, sufficient condition of stabilization for switched systems with all stable subsystems under MDADT switching is also given. The correctness and effectiveness of the proposed approaches are illustrated by a numerical example.

Neural network adaptive tracking control for a class of uncertain switched nonlinear systems. •Study the method of the tracking control of the switched uncertain nonlinear systems under arbitrary switching signal controller.•A multilayer neural network adaptive controller with multilayer weight norm adaptive estimation is been designed.•The adaptive law is expand from calculation the second layer weight of neural network to both of the two layers weight.•The controller proposed improve the tracking error performance of the closed-loop system greatly.

Energy harvesting algorithm considering max flow problem in wireless sensor networks. In Wireless Sensor Networks (WSNs), sensor nodes with poor energy always have bad effect on the data rate or max flow. These nodes are called bottleneck nodes. In this paper, in order to increase the max flow, we assume an energy harvesting WSNs environment to investigate the cooperation of multiple Mobile Chargers (MCs). MCs are mobile robots that use wireless charging technology to charge sensor nodes in WSNs. This means that in energy harvesting WSNs environments, sensor nodes can obtain energy replenishment by using MCs or collecting energy from nature by themselves. In our research, we use MCs to improve the energy of the sensor nodes by performing multiple rounds of unified scheduling, and finally achieve the purpose of increasing the max flow at sinks. Firstly, we model this problem as a Linear Programming (LP) to search the max flow in a round of charging scheduling and prove that the problem is NP-hard. In order to solve the problem, we propose a heuristic approach: deploying MCs in units of paths with the lowest energy node priority. To reduce the energy consumption of MCs and increase the charging efficiency, we also take the optimization of MCs’ moving distance into our consideration. Finally, we extend the method to multiple rounds of scheduling called BottleNeck. Simulation results show that Bottleneck performs well at increasing max flow.

Practical Tracking via Adaptive Event-Triggered Feedback for Uncertain Nonlinear Systems This paper addresses the event-triggered tracking for a class of uncertain nonlinear systems. Essentially different from the related works, the nonlinear systems allow serious parametric uncertainties, while no further a priori information, excepting some coarse information, is required on the reference signal to be tracked. This makes event-triggered control more challenging, partially because the sampling error cannot be precisely bounded any more. As main contributions of the present paper, new adaptive event-triggered tracking schemes are proposed for the systems in two event-triggering architectures with different roles of the event-triggering mechanism on the information transmitting and control computing/updating. Much importantly, a dynamic gain is incorporated in either scheme not only to counteract the serious uncertainties, but also to overcome the bad influence of the sampling error. Based on the dynamic gain, two adaptive event-triggered controllers are designed with distinct event-triggering mechanisms, respectively. Particularly, to ensure application flexibility, one of the triggering mechanisms is rendered relatively independent of the controller signal. The designed event-triggered controllers are shown to achieve the practical tracking for the systems, that is, the pre-specified arbitrary tracking accuracy can be guaranteed (a comparable objective to that via continuous-time control), while avoiding infinitely fast sampling/execution.

Adaptive Backstepping Control of Nonlinear Uncertain Systems with Quantized States This paper investigates the stabilization problem for uncertain nonlinear systems with quantized states. All states in the system are quantized by a static bounded quantizer, including uniform quantizer, hysteresis-uniform quantizer, and logarithmic-uniform quantizer as examples. An adaptive backstepping-based control algorithm, which can handle discontinuity, resulted from the state quantization ...

Adaptive Neural Quantized Control for a Class of MIMO Switched Nonlinear Systems With Asymmetric Actuator Dead-Zone. This paper concentrates on the adaptive state-feedback quantized control problem for a class of multiple-input-multiple-output (MIMO) switched nonlinear systems with unknown asymmetric actuator dead-zone. In this study, we employ different quantizers for different subsystem inputs. The main challenge of this study is to deal with the coupling between the quantizers and the dead-zone nonlinearities...

Neural-Network Approximation-Based Adaptive Periodic Event-Triggered Output-Feedback Control of Switched Nonlinear Systems This study considers an adaptive neural-network (NN) periodic event-triggered control (PETC) problem for switched nonlinear systems (SNSs). In the system, only the system output is available at sampling instants. A novel adaptive law and a state observer are constructed by using only the sampled system output. A new output-feedback adaptive NN PETC strategy is developed to reduce the usage of communication resources; it includes a controller that only uses event-sampling information and an event-triggering mechanism (ETM) that is only intermittently monitored at sampling instants. The proposed adaptive NN PETC strategy does not need restrictions on nonlinear functions reported in some previous studies. It is proven that all states of the closed-loop system (CLS) are semiglobally uniformly ultimately bounded (SGUUB) under arbitrary switchings by choosing an allowable sampling period. Finally, the proposed scheme is applied to a continuous stirred tank reactor (CSTR) system and a numerical example to verify its effectiveness.

Adaptive Asymptotic Tracking With Global Performance for Nonlinear Systems With Unknown Control Directions This article presents a global adaptive asymptotic tracking control method, capable of guaranteeing prescribed transient behavior for uncertain strict-feedback nonlinear systems with arbitrary relative degree and unknown control directions. Unlike most existing funnel controls that are built upon time-varying feedback gains, the proposed method is derived from a tracking error-dependent normalized...

Event-Triggered Fuzzy Bipartite Tracking Control for Network Systems Based on Distributed Reduced-Order Observers This article studies the distributed observer-based event-triggered bipartite tracking control problem for stochastic nonlinear multiagent systems with input saturation. First, different from conventional observers, we construct a novel distributed reduced-order observer to estimate unknown states for the stochastic nonlinear systems. Then, an event-triggered mechanism with relative threshold is i...

Hamming Embedding and Weak Geometric Consistency for Large Scale Image Search This paper improves recent methods for large scale image search. State-of-the-art methods build on the bag-of-features image representation. We, first, analyze bag-of-features in the framework of approximate nearest neighbor search. This shows the sub-optimality of such a representation for matching descriptors and leads us to derive a more precise representation based on 1) Hamming embedding (HE) and 2) weak geometric consistency constraints (WGC). HE provides binary signatures that refine the matching based on visual words. WGC filters matching descriptors that are not consistent in terms of angle and scale. HE and WGC are integrated within the inverted file and are efficiently exploited for all images, even in the case of very large datasets. Experiments performed on a dataset of one million of images show a significant improvement due to the binary signature and the weak geometric consistency constraints, as well as their efficiency. Estimation of the full geometric transformation, i.e., a re-ranking step on a short list of images, is complementary to our weak geometric consistency constraints and allows to further improve the accuracy.

Microsoft Coco: Common Objects In Context We present a new dataset with the goal of advancing the state-of-the-art in object recognition by placing the question of object recognition in the context of the broader question of scene understanding. This is achieved by gathering images of complex everyday scenes containing common objects in their natural context. Objects are labeled using per-instance segmentations to aid in precise object localization. Our dataset contains photos of 91 objects types that would be easily recognizable by a 4 year old. With a total of 2.5 million labeled instances in 328k images, the creation of our dataset drew upon extensive crowd worker involvement via novel user interfaces for category detection, instance spotting and instance segmentation. We present a detailed statistical analysis of the dataset in comparison to PASCAL, ImageNet, and SUN. Finally, we provide baseline performance analysis for bounding box and segmentation detection results using a Deformable Parts Model.

The Whale Optimization Algorithm. The Whale Optimization Algorithm inspired by humpback whales is proposed.The WOA algorithm is benchmarked on 29 well-known test functions.The results on the unimodal functions show the superior exploitation of WOA.The exploration ability of WOA is confirmed by the results on multimodal functions.The results on structural design problems confirm the performance of WOA in practice. This paper proposes a novel nature-inspired meta-heuristic optimization algorithm, called Whale Optimization Algorithm (WOA), which mimics the social behavior of humpback whales. The algorithm is inspired by the bubble-net hunting strategy. WOA is tested with 29 mathematical optimization problems and 6 structural design problems. Optimization results prove that the WOA algorithm is very competitive compared to the state-of-art meta-heuristic algorithms as well as conventional methods. The source codes of the WOA algorithm are publicly available at http://www.alimirjalili.com/WOA.html

Collaborative privacy management The landscape of the World Wide Web with all its versatile services heavily relies on the disclosure of private user information. Unfortunately, the growing amount of personal data collected by service providers poses a significant privacy threat for Internet users. Targeting growing privacy concerns of users, privacy-enhancing technologies emerged. One goal of these technologies is the provision of tools that facilitate a more informative decision about personal data disclosures. A famous PET representative is the PRIME project that aims for a holistic privacy-enhancing identity management system. However, approaches like the PRIME privacy architecture require service providers to change their server infrastructure and add specific privacy-enhancing components. In the near future, service providers are not expected to alter internal processes. Addressing the dependency on service providers, this paper introduces a user-centric privacy architecture that enables the provider-independent protection of personal data. A central component of the proposed privacy infrastructure is an online privacy community, which facilitates the open exchange of privacy-related information about service providers. We characterize the benefits and the potentials of our proposed solution and evaluate a prototypical implementation.

On controller initialization in multivariable switching systems We consider a class of switched systems which consists of a linear MIMO and possibly unstable process in feedback interconnection with a multicontroller whose dynamics switch. It is shown how one can achieve significantly better transient performance by selecting the initial condition for every controller when it is inserted into the feedback loop. This initialization is obtained by performing the minimization of a quadratic cost function of the tracking error, controlled output, and control signal. We guarantee input-to-state stability of the closed-loop system when the average number of switches per unit of time is smaller than a specific value. If this is not the case then stability can still be achieved by adding a mild constraint to the optimization. We illustrate the use of our results in the control of a flexible beam actuated in torque. This system is unstable with two poles at the origin and contains several lightly damped modes, which can be easily excited by controller switching.

Completely Pinpointing the Missing RFID Tags in a Time-Efficient Way Radio Frequency Identification (RFID) technology has been widely used in inventory management in many scenarios, e.g., warehouses, retail stores, hospitals, etc. This paper investigates a challenging problem of complete identification of missing tags in large-scale RFID systems. Although this problem has attracted extensive attention from academy and industry, the existing work can hardly satisfy the stringent real-time requirements. In this paper, a Slot Filter-based Missing Tag Identification (SFMTI) protocol is proposed to reconcile some expected collision slots into singleton slots and filter out the expected empty slots as well as the unreconcilable collision slots, thereby achieving the improved time-efficiency. The theoretical analysis is conducted to minimize the execution time of the proposed SFMTI. We then propose a cost-effective method to extend SFMTI to the multi-reader scenarios. The extensive simulation experiments and performance results demonstrate that the proposed SFMTI protocol outperforms the most promising Iterative ID-free Protocol (IIP) by reducing nearly 45% of the required execution time, and is just within a factor of 1.18 from the lower bound of the minimum execution time.

A robust medical image watermarking against salt and pepper noise for brain MRI images. The ever-growing numbers of medical digital images and the need to share them among specialists and hospitals for better and more accurate diagnosis require that patients' privacy be protected. During the transmission of medical images between hospitals or specialists through the network, the main priority is to protect a patient's documents against any act of tampering by unauthorised individuals. Because of this, there is a need for medical image authentication scheme to enable proper diagnosis on patient. In addition, medical images are also susceptible to salt and pepper impulse noise through the transmission in communication channels. This noise may also be intentionally used by the invaders to corrupt the embedded watermarks inside the medical images. A common drawback of existing watermarking methods is their weakness against salt and pepper noise. The research carried out in this work addresses the issue of designing a new watermarking method that can withstand high density of salt and pepper noise for brain MRI images. For this purpose, combination of a spatial domain watermarking method, channel coding and noise filtering schemes are used. The region of non-interest (RONI) of MRI images from five different databases are used as embedding area and electronic patient record (EPR) is considered as embedded data. The quality of watermarked image is evaluated using Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index (SSIM), and the accuracy of the extracted watermark is assessed in terms of Bit Error Rate (BER).

Attitudes Towards Social Robots In Education: Enthusiast, Practical, Troubled, Sceptic, And Mindfully Positive While social robots bring new opportunities for education, they also come with moral challenges. Therefore, there is a need for moral guidelines for the responsible implementation of these robots. When developing such guidelines, it is important to include different stakeholder perspectives. Existing (qualitative) studies regarding these perspectives however mainly focus on single stakeholders. In this exploratory study, we examine and compare the attitudes of multiple stakeholders on the use of social robots in primary education, using a novel questionnaire that covers various aspects of moral issues mentioned in earlier studies. Furthermore, we also group the stakeholders based on similarities in attitudes and examine which socio-demographic characteristics influence these attitude types. Based on the results, we identify five distinct attitude profiles and show that the probability of belonging to a specific profile is affected by such characteristics as stakeholder type, age, education and income. Our results also indicate that social robots have the potential to be implemented in education in a morally responsible way that takes into account the attitudes of various stakeholders, although there are multiple moral issues that need to be addressed first. Finally, we present seven (practical) implications for a responsible application of social robots in education following from our results. These implications provide valuable insights into how social robots should be implemented.

HELAD: A novel network anomaly detection model based on heterogeneous ensemble learning. Network traffic anomaly detection is an important technique of ensuring network security. However, there are usually three problems with existing machine learning based anomaly detection algorithms. First, most of the models are built for stale data sets, making them less adaptable in real-world environments; Second, most of the anomaly detection algorithms do not have the ability to learn new models again based on changes in the attack environment; Third, from the perspective of data multi-dimensionality, a single detection algorithm has a peak value and cannot be well adapted to the needs of a complex network attack environment. Thus, we propose a new anomaly detection framework, and this framework is based on the organic integration of multiple deep learning techniques. In the first step, we used the Damped Incremental Statistics algorithm to extract features from network traffic; Second, we train Autoencoder with a small amount of label data; Third, we use Autoencoder to mark the abnormal score of network traffic; Fourth, the data with the abnormal score label is used to train the LSTM; Finally, the weighted method is used to get the final abnormal score. The experimental results show that our HELAD algorithm has better adaptability and accuracy than other state of the art algorithms.

Adaptive Clustering with Feature Ranking for DDoS Attacks Detection Distributed Denial of Service (DDoS) attacks pose an increasing threat to the current internet. The detection of such attacks plays an important role in maintaining the security of networks. In this paper, we propose a novel adaptive clustering method combined with feature ranking for DDoS attacks detection. First, based on the analysis of network traffic, preliminary variables are selected. Second, the Modified Global K-means algorithm (MGKM) is used as the basic incremental clustering algorithm to identify the cluster structure of the target data. Third, the linear correlation coefficient is used for feature ranking. Lastly, the feature ranking result is used to inform and recalculate the clusters. This adaptive process can make worthwhile adjustments to the working feature vector according to different patterns of DDoS attacks, and can improve the quality of the clusters and the effectiveness of the clustering algorithm. The experimental results demonstrate that our method is effective and adaptive in detecting the separate phases of DDoS attacks.

The role of KL divergence in anomaly detection We study the role of Kullback-Leibler divergence in the framework of anomaly detection, where its abilities as a statistic underlying detection have never been investigated in depth. We give an in-principle analysis of network attack detection, showing explicitly attacks may be masked at minimal cost through 'camouflage'. We illustrate on both synthetic distributions and ones taken from real traffic.

An Anomaly Detection Model Based on One-Class SVM to Detect Network Intrusions. Intrusion detection occupies a decision position in solving the network security problems. Support Vector Machines (SVMs) are one of the widely used intrusion detection techniques. However, the commonly used two-class SVM algorithms are facing difficulties of constructing the training dataset. That is because in many real application scenarios, normal connection records are easy to be obtained, but attack records are not so. We propose an anomaly detection model based on One-class SVM to detect network intrusions. The one-class SVM adopts only normal network connection records as the training dataset. But after being trained, it is able to recognize normal from various attacks. This just meets the requirements of the anomaly detection. Experimental results on KDDCUP99 dataset show that compared to Probabilistic Neural Network (PNN) and C-SVM, our anomaly detection model based on One-class SVM achieves higher detection rates and yields average better performance in terms of precision, recall and F-value.

Outlier Detection in Sensor Data using Ensemble Learning.

Machine-Learning-Enabled DDoS Attacks Detection in P4 Programmable Networks Distributed Denial of Service (DDoS) attacks represent a major concern in modern Software Defined Networking (SDN), as SDN controllers are sensitive points of failures in the whole SDN architecture. Recently, research on DDoS attacks detection in SDN has focused on investigation of how to leverage data plane programmability, enabled by P4 language, to detect attacks directly in network switches, with marginal involvement of SDN controllers. In order to effectively address cybersecurity management in SDN architectures, we investigate the potential of Artificial Intelligence and Machine Learning (ML) algorithms to perform automated DDoS Attacks Detection (DAD), specifically focusing on Transmission Control Protocol SYN flood attacks. We compare two different DAD architectures, called Standalone and Correlated DAD, where traffic features collection and attack detection are performed locally at network switches or in a single entity (e.g., in SDN controller), respectively. We combine the capability of ML and P4-enabled data planes to implement real-time DAD. Illustrative numerical results show that, for all tested ML algorithms, accuracy, precision, recall and F1-score are above 98% in most cases, and classification time is in the order of few hundreds of mu s in the worst case. Considering real-time DAD implementation, significant latency reduction is obtained when features are extracted at the data plane by using P4 language.

Accurate Self-Localization in RFID Tag Information Grids Using FIR Filtering Grid navigation spaces nested with the radio-frequency identification (RFID) tags are promising for industrial and other needs, because each tag can deliver information about a local two-dimensional or three-dimensional surrounding. The approach, however, requires high accuracy in vehicle self-localization. Otherwise, errors may lead to collisions; possibly even fatal. We propose a new extended finite impulse response (EFIR) filtering algorithm and show that it meets this need. The EFIR filter requires an optimal averaging interval, but does not involve the noise statistics which are often not well known to the engineer. It is more accurate than the extended Kalman filter (EKF) under real operation conditions and its iterative algorithm has the Kalman form. Better performance of the proposed EFIR filter is demonstrated based on extensive simulations in a comparison to EKF, which is widely used in RFID tag grids. We also show that errors in noise covariances may provoke divergence in EKF, whereas the EFIR filter remains stable and is thus more robust.

Evolutionary computation: comments on the history and current state Evolutionary computation has started to receive significant attention during the last decade, although the origins can be traced back to the late 1950's. This article surveys the history as well as the current state of this rapidly growing field. We describe the purpose, the general structure, and the working principles of different approaches, including genetic algorithms (GA) (with links to genetic programming (GP) and classifier systems (CS)), evolution strategies (ES), and evolutionary programming (EP) by analysis and comparison of their most important constituents (i.e. representations, variation operators, reproduction, and selection mechanism). Finally, we give a brief overview on the manifold of application domains, although this necessarily must remain incomplete

Supporting social navigation on the World Wide Web This paper discusses a navigation behavior on Internet information services, in particular the World Wide Web, which is characterized by pointing out of information using various communication tools. We call this behavior social navigation as it is based on communication and interaction with other users, be that through email, or any other means of communication. Social navigation phenomena are quite common although most current tools (like Web browsers or email clients) offer very little support for it. We describe why social navigation is useful and how it can be better supported in future systems. We further describe two prototype systems that, although originally not designed explicitly as tools for social navigation, provide features that are typical for social navigation systems. One of these systems, the Juggler system, is a combination of a textual virtual environment and a Web client. The other system is a prototype of a Web- hotlist organizer, called Vortex. We use both systems to describe fundamental principles of social navigation systems.

Proofs of Storage from Homomorphic Identification Protocols Proofs of storage (PoS) are interactive protocols allowing a client to verify that a server faithfully stores a file. Previous work has shown that proofs of storage can be constructed from any homomorphic linear authenticator (HLA). The latter, roughly speaking, are signature/message authentication schemes where `tags' on multiple messages can be homomorphically combined to yield a `tag' on any linear combination of these messages. We provide a framework for building public-key HLAs from any identification protocol satisfying certain homomorphic properties. We then show how to turn any public-key HLA into a publicly-verifiable PoS with communication complexity independent of the file length and supporting an unbounded number of verifications. We illustrate the use of our transformations by applying them to a variant of an identification protocol by Shoup, thus obtaining the first unbounded-use PoS based on factoring (in the random oracle model).

Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an extended Kalman filter designed for real-time estimation of the orientation of human limb segments. The filter processes data from small inertial/magnetic sensor modules containing triaxial angular rate sensors, accelerometers, and magnetometers. The filter represents rotation using quaternions rather than Euler angles or axis/angle pairs. Preprocessing of the acceleration and magnetometer measurements using the Quest algorithm produces a computed quaternion input for the filter. This preprocessing reduces the dimension of the state vector and makes the measurement equations linear. Real-time implementation and testing results of the quaternion-based Kalman filter are presented. Experimental results validate the filter design, and show the feasibility of using inertial/magnetic sensor modules for real-time human body motion tracking

Finite-approximation-error-based discrete-time iterative adaptive dynamic programming. In this paper, a new iterative adaptive dynamic programming (ADP) algorithm is developed to solve optimal control problems for infinite horizon discrete-time nonlinear systems with finite approximation errors. First, a new generalized value iteration algorithm of ADP is developed to make the iterative performance index function converge to the solution of the Hamilton-Jacobi-Bellman equation. The ...

Neural network adaptive tracking control for a class of uncertain switched nonlinear systems. •Study the method of the tracking control of the switched uncertain nonlinear systems under arbitrary switching signal controller.•A multilayer neural network adaptive controller with multilayer weight norm adaptive estimation is been designed.•The adaptive law is expand from calculation the second layer weight of neural network to both of the two layers weight.•The controller proposed improve the tracking error performance of the closed-loop system greatly.

Convert Harm Into Benefit: A Coordination-Learning Based Dynamic Spectrum Anti-Jamming Approach This paper mainly investigates the multi-user anti-jamming spectrum access problem. Using the idea of “converting harm into benefit,” the malicious jamming signals projected by the enemy are utilized by the users as the coordination signals to guide spectrum coordination. An “internal coordination-external confrontation” multi-user anti-jamming access game model is constructed, and the existence of Nash equilibrium (NE) as well as correlated equilibrium (CE) is demonstrated. A coordination-learning based anti-jamming spectrum access algorithm (CLASA) is designed to achieve the CE of the game. Simulation results show the convergence, and effectiveness of the proposed CLASA algorithm, and indicate that our approach can help users confront the malicious jammer, and coordinate internal spectrum access simultaneously without information exchange. Last but not least, the fairness of the proposed approach under different jamming attack patterns is analyzed, which illustrates that this approach provides fair anti-jamming spectrum access opportunities under complicated jamming pattern.

Age of Information for Queues in Tandem As a stepping stone towards understanding the freshness of information in multi-hop networks, we study the age of information metric for queues in tandem. Applying the recent stochastic hybrid systems approach for age of information, we derive the average age for two non-preemptive first-come, first-served queues in tandem with memoryless arrival and departure processes and queue capacities equal to 1. We verify our results via simulation, and we also simulate the case of infinite capacity queues in tandem for up to four hops. Our simulations include cases with deterministic arrival or departure processes, and we assess the impact of the number of hops in the line network on the average age for the various models. We observe that for queues in tandem with a memoryless arrival process and memoryless departures, as the number of hops increase, the average age increases linearly at high arrival rates. For memoryless arrivals and deterministic departures, the ages increase sublinearly, while for deterministic arrivals and memoryless departures, the ages increase superlinearly at high arrival rates. We also study the behavior of the optimal arrival rates as a function of the number of hops, and we observe that the optimal arrival rate decreases with the number of hops when the departure process is memoryless, but for deterministic departure processes, the optimal arrival rate is independent of the number of hops.

A Low-Complexity Analytical Modeling for Cross-Layer Adaptive Error Protection in Video Over WLAN We find a low-complicity and accurate model to solve the problem of optimizing MAC-layer transmission of real-time video over wireless local area networks (WLANs) using cross-layer techniques. The objective in this problem is to obtain the optimal MAC retry limit in order to minimize the total packet loss rate. First, the accuracy of Fluid and M/M/1/K analytical models is examined. Then we derive a closed-form expression for service time in WLAN MAC transmission, and will use this in mathematical formulation of our optimization problem based on M/G/1 model. Subsequently we introduce an approximate and simple formula for MAC-layer service time, which leads to the M/M/1 model. Compared with M/G/1, we particularly show that our M/M/1-based model provides a low-complexity and yet quite accurate means for analyzing MAC transmission process in WLAN. Using our M/M/1 model-based analysis, we derive closed-form formulas for the packet overflow drop rate and optimum retry-limit. These closed-form expressions can be effectively invoked for analyzing adaptive retry-limit algorithms. Simulation results (network simulator-2) will verify the accuracy of our analytical models.

Poisson Arrivals See Time Averages In many stochastic models, particularly in queueing theory, Poisson arrivals both observe see a stochastic process and interact with it. In particular cases and/or under restrictive assumptions it ...

Data Aggregation and Packet Bundling of Uplink Small Packets for Monitoring Applications in LTE. In cellular massive machine-type communications, a device can transmit directly to the BS or through an aggregator (intermediate node). While direct device-BS communication has recently been the focus of 5G/3GPP research and standardization efforts, the use of aggregators remains a less explored topic. In this article we analyze the deployment scenarios in which aggregators can perform cellular ac...

Queue Management for Age Sensitive Status Updates We consider a system consisting of a source-destination communication link. At the transmitter of the source there is a buffer that stores packets containing status information. These randomly generated packets should keep the destination timely updated and they can be discarded to avoid wasting network resources for the transmission of stale information. In this setup, we provide an analysis of the age of information (AoI) and peak age of information (PAoI) performance of the system, with and without packet management at the transmission queue of the source node. The analysis indicates the potential performance gains obtained with the use of packet management.

Age of information in a decentralized network of parallel queues with routing and packets losses The paper deals with age of information (AoI) in a network of multiple sources and parallel queues with buffering capabilities, preemption in service and losses in served packets. The queues do not communicate between each other and the packets are dispatched through the queues according to a predefined probabilistic routing. By making use of the stochastic hybrid system (SHS) method, we provide a...

Probabilistic encryption A new probabilistic model of data encryption is introduced. For this model, under suitable complexity assumptions, it is proved that extracting any information about the cleartext from the cyphertext is hard on the average for an adversary with polynomially bounded computational resources. The proof holds for any message space with any probability distribution. The first implementation of this model is presented. The security of this implementation is proved under the interactability assumptin of deciding Quadratic Residuosity modulo composite numbers whose factorization is unknown.

Theory and Applications of Robust Optimization In this paper we survey the primary research, both theoretical and applied, in the area of robust optimization (RO). Our focus is on the computational attractiveness of RO approaches, as well as the modeling power and broad applicability of the methodology. In addition to surveying prominent theoretical results of RO, we also present some recent results linking RO to adaptable models for multistage decision-making problems. Finally, we highlight applications of RO across a wide spectrum of domains, including finance, statistics, learning, and various areas of engineering.

Revenue-optimal task scheduling and resource management for IoT batch jobs in mobile edge computing With the growing prevalence of Internet of Things (IoT) devices and technology, a burgeoning computing paradigm namely mobile edge computing (MEC) is delicately proposed and designed to accommodate the application requirements of IoT scenario. In this paper, we focus on the problems of dynamic task scheduling and resource management in MEC environment, with the specific objective of achieving the optimal revenue earned by edge service providers. While the majority of task scheduling and resource management algorithms are formulated by an integer programming (IP) problem and solved in a dispreferred NP-hard manner, we innovatively investigate the problem structure and identify a favorable property namely totally unimodular constraints. The totally unimodular property further helps to design an equivalent linear programming (LP) problem which can be efficiently and elegantly solved at polynomial computational complexity. In order to evaluate our proposed approach, we conduct simulations based on real-life IoT dataset to verify the effectiveness and efficiency of our approach.

Space-time super-resolution. We propose a method for constructing a video sequence of high space-time resolution by combining information from multiple low-resolution video sequences of the same dynamic scene. Super-resolution is performed simultaneously in time and in space. By "temporal super-resolution," we mean recovering rapid dynamic events that occur faster than regular frame-rate. Such dynamic events are not visible (or else are observed incorrectly) in any of the input sequences, even if these are played in "slow-motion." The spatial and temporal dimensions are very different in nature, yet are interrelated. This leads to interesting visual trade-offs in time and space and to new video applications. These include: 1) treatment of spatial artifacts (e.g., motion-blur) by increasing the temporal resolution and 2) combination of input sequences of different space-time resolutions (e.g., NTSC, PAL, and even high quality still images) to generate a high quality video sequence. We further analyze and compare characteristics of temporal super-resolution to those of spatial super-resolution. These include: How many video cameras are needed to obtain increased resolution? What is the upper bound on resolution improvement via super-resolution? What is the temporal analogue to the spatial "ringing" effect?

Data-Driven Intelligent Transportation Systems: A Survey For the last two decades, intelligent transportation systems (ITS) have emerged as an efficient way of improving the performance of transportation systems, enhancing travel security, and providing more choices to travelers. A significant change in ITS in recent years is that much more data are collected from a variety of sources and can be processed into various forms for different stakeholders. The availability of a large amount of data can potentially lead to a revolution in ITS development, changing an ITS from a conventional technology-driven system into a more powerful multifunctional data-driven intelligent transportation system (D2ITS) : a system that is vision, multisource, and learning algorithm driven to optimize its performance. Furthermore, D2ITS is trending to become a privacy-aware people-centric more intelligent system. In this paper, we provide a survey on the development of D2ITS, discussing the functionality of its key components and some deployment issues associated with D2ITS Future research directions for the development of D2ITS is also presented.

Online Prediction of Driver Distraction Based on Brain Activity Patterns This paper presents a new computational framework for early detection of driver distractions (map viewing) using brain activity measured by electroencephalographic (EEG) signals. Compared with most studies in the literature, which are mainly focused on the classification of distracted and nondistracted periods, this study proposes a new framework to prospectively predict the start and end of a distraction period, defined by map viewing. The proposed prediction algorithm was tested on a data set of continuous EEG signals recorded from 24 subjects. During the EEG recordings, the subjects were asked to drive from an initial position to a destination using a city map in a simulated driving environment. The overall accuracy values for the prediction of the start and the end of map viewing were 81% and 70%, respectively. The experimental results demonstrated that the proposed algorithm can predict the start and end of map viewing with relatively high accuracy and can be generalized to individual subjects. The outcome of this study has a high potential to improve the design of future intelligent navigation systems. Prediction of the start of map viewing can be used to provide route information based on a driver's needs and consequently avoid map-viewing activities. Prediction of the end of map viewing can be used to provide warnings for potential long map-viewing durations. Further development of the proposed framework and its applications in driver-distraction predictions are also discussed.

A robust medical image watermarking against salt and pepper noise for brain MRI images. The ever-growing numbers of medical digital images and the need to share them among specialists and hospitals for better and more accurate diagnosis require that patients' privacy be protected. During the transmission of medical images between hospitals or specialists through the network, the main priority is to protect a patient's documents against any act of tampering by unauthorised individuals. Because of this, there is a need for medical image authentication scheme to enable proper diagnosis on patient. In addition, medical images are also susceptible to salt and pepper impulse noise through the transmission in communication channels. This noise may also be intentionally used by the invaders to corrupt the embedded watermarks inside the medical images. A common drawback of existing watermarking methods is their weakness against salt and pepper noise. The research carried out in this work addresses the issue of designing a new watermarking method that can withstand high density of salt and pepper noise for brain MRI images. For this purpose, combination of a spatial domain watermarking method, channel coding and noise filtering schemes are used. The region of non-interest (RONI) of MRI images from five different databases are used as embedding area and electronic patient record (EPR) is considered as embedded data. The quality of watermarked image is evaluated using Peak Signal-to-Noise Ratio (PSNR) and Structural Similarity Index (SSIM), and the accuracy of the extracted watermark is assessed in terms of Bit Error Rate (BER).

Social Robots for (Second) Language Learning in (Migrant) Primary School Children Especially these days, innovation and support from technology to relieve pressure in education is highly urgent. This study tested the potential advantage of a social robot over a tablet in (second) language learning on performance, engagement, and enjoyment. Shortages in primary education call for new technology solutions. Previous studies combined robots with tablets, to compensate for robot’s limitations, however, this study applied direct human–robot interaction. Primary school children (N = 63, aged 4–6) participated in a 3-wave field experiment with story-telling exercises, either with a semi-autonomous robot (without tablet, using WOz) or a tablet. Results showed increased learning gains over time when training with a social robot, compared to the tablet. Children who trained with a robot were more engaged in the story-telling task and enjoyed it more. Robot’s behavioral style (social or neutral) hardly differed overall, however, seems to vary for high versus low educational abilities. While social robots need sophistication before being implemented in schools, our study shows the potential of social robots as tutors in (second) language learning.

Optimizing the Deployment of Electric Vehicle Charging Stations Using Pervasive Mobility Data. With the recent advances in battery technology and the resulting decrease in the charging times, public charging stations are becoming a viable option for Electric Vehicle (EV) drivers. Concurrently, emergence and the wide-spread use of location-tracking devices in mobile phones and wearable devices has paved the way to track individual-level human movements to an unprecedented spatial and temporal grain. Motivated by these developments, we propose a novel methodology to perform data-driven optimization of EV charging station locations. We formulate the problem as a discrete optimization problem on a geographical grid, with the objective of covering the entire demand region while minimizing a measure of drivers’ total excess driving distance to reach charging stations, the related energy overhead, and the number of charging stations. Since optimally solving the problem is computationally infeasible, we present computationally efficient solutions based on the genetic algorithm. We then apply the proposed methodology to optimize EV charging stations layout in the city of Boston, starting from Call Detail Records (CDR) of one million users over the span of 4 months. The results show that the genetic algorithm provides solutions that significantly reduce drivers’ excess driving distance to charging stations, energy overhead, and the number of charging stations required compared to both a locally-optimized feasible solution and the current charging station deployment in the Boston metro area. We further investigate the robustness of the proposed methodology and show that building upon well-known regularity of aggregate human mobility patterns, the layout computed for demands based on the single day movements preserves its advantage also in later days and months. When collectively considered, the results presented in this paper indicate the potential of data-driven approaches for optimally placing public charging facilities at urban scale.

Optimal Planning Of Pev Charging Station With Single Output Multiple Cables Charging Spots Coordinated charging can alter the profile of plug-in electric vehicle charging load and reduce the required amount of charging spots by encouraging customers to use charging spots at off-peak hours. Therefore, real-time coordinated charging should be considered at the planning stage. To enhance charging station's utilization and save corresponding investment costs by incorporating coordinated charging, a new charging spot model, namely single output multiple cables charging spot (SOMC spot), is designed in this paper. A two-stage stochastic programming model is developed for planning a public parking lot charging station equipped with SOMC spots. The first stage of the programming model is planning of SOMC spots and its objective is to obtain an optimal configuration of the charging station to minimize the station's equivalent annual costs, including investment and operation costs. The second stage of the programming model involves a probabilistic simulation procedure, in which coordinated charging is simulated, so that the influence of coordinated charging on the planning is considered. A case study of a residential parking lot charging station verifies the effectiveness of the proposed planning model. And the proposed coordinated charging for SOMC spots shows great potential in saving equivalent annual costs for providing charging services.

Optimized Charging Scheduling with Single Mobile Charger for Wireless Rechargeable Sensor Networks. Due to the rapid development of wireless charging technology, the recharging issue in wireless rechargeable sensor network (WRSN) has been a popular research problem in the past few years. The weakness of previous work is that charging route planning is not reasonable. In this work, a dynamic optimal scheduling scheme aiming to maximize the vacation time ratio of a single mobile changer for WRSN is proposed. In the proposed scheme, the wireless sensor network is divided into several sub-networks according to the initial topology of deployed sensor networks. After comprehensive analysis of energy states, working state and constraints for different sensor nodes in WRSN, we transform the optimized charging path problem of the whole network into the local optimization problem of the sub networks. The optimized charging path with respect to dynamic network topology in each sub-network is obtained by solving an optimization problem, and the lifetime of the deployed wireless sensor network can be prolonged. Simulation results show that the proposed scheme has good and reliable performance for a small wireless rechargeable sensor network.

Toward Distributed Battery Switch Based Electro-Mobility Using Publish/Subscribe System. With the growing popularization of Electric Vehicle (EVs), Electro-mobility (in terms of where to charge EV) has become an increasingly important research problem in smart cities. One of the major concerns is the anxiety of EVs, as drivers may suffer from discomfort due to long charging time. In this paper, we leverage the battery switch technology to provide an even faster charging than plug-in c...

Design and Planning of a Multiple-Charger Multiple-Port Charging System for PEV Charging Station. Investment of charging facilities is facing deficit problems in many countries at the initial development stage of plug-in electric vehicles (PEVs). In this paper, we study the charging facility planning problem faced by a PEV charging station investor who aims to serve PEV customers with random behaviors and demands (but follow a series of predicted distributions) with lower economic costs of bot...

Time-Efficient Target Tags Information Collection in Large-Scale RFID Systems By integrating the micro-sensor on RFID tags to obtain the environment information, the sensor-augmented RFID system greatly supports the applications that are sensitive to environment. To quickly collect the information from all tags, many researchers dedicate on well arranging tag replying orders to avoid the signal collisions. Compared to from all tags, collecting information from a part of tag...

A survey on ear biometrics Recognizing people by their ear has recently received significant attention in the literature. Several reasons account for this trend: first, ear recognition does not suffer from some problems associated with other non-contact biometrics, such as face recognition; second, it is the most promising candidate for combination with the face in the context of multi-pose face recognition; and third, the ear can be used for human recognition in surveillance videos where the face may be occluded completely or in part. Further, the ear appears to degrade little with age. Even though current ear detection and recognition systems have reached a certain level of maturity, their success is limited to controlled indoor conditions. In addition to variation in illumination, other open research problems include hair occlusion, earprint forensics, ear symmetry, ear classification, and ear individuality. This article provides a detailed survey of research conducted in ear detection and recognition. It provides an up-to-date review of the existing literature revealing the current state-of-art for not only those who are working in this area but also for those who might exploit this new approach. Furthermore, it offers insights into some unsolved ear recognition problems as well as ear databases available for researchers.

DeepFace: Closing the Gap to Human-Level Performance in Face Verification In modern face recognition, the conventional pipeline consists of four stages: detect => align => represent => classify. We revisit both the alignment step and the representation step by employing explicit 3D face modeling in order to apply a piecewise affine transformation, and derive a face representation from a nine-layer deep neural network. This deep network involves more than 120 million parameters using several locally connected layers without weight sharing, rather than the standard convolutional layers. Thus we trained it on the largest facial dataset to-date, an identity labeled dataset of four million facial images belonging to more than 4, 000 identities. The learned representations coupling the accurate model-based alignment with the large facial database generalize remarkably well to faces in unconstrained environments, even with a simple classifier. Our method reaches an accuracy of 97.35% on the Labeled Faces in the Wild (LFW) dataset, reducing the error of the current state of the art by more than 27%, closely approaching human-level performance.

Markov games as a framework for multi-agent reinforcement learning In the Markov decision process (MDP) formalization of reinforcement learning, a single adaptive agent interacts with an environment defined by a probabilistic transition function. In this solipsis-tic view, secondary agents can only be part of the environment and are therefore fixed in their behavior. The framework of Markov games allows us to widen this view to include multiple adaptive agents with interacting or competing goals. This paper considers a step in this direction in which exactly two agents with diametrically opposed goals share an environment. It describes a Q-learning-like algorithm for finding optimal policies and demonstrates its application to a simple two-player game in which the optimal policy is probabilistic.

Pors: proofs of retrievability for large files In this paper, we define and explore proofs of retrievability (PORs). A POR scheme enables an archive or back-up service (prover) to produce a concise proof that a user (verifier) can retrieve a target file F, that is, that the archive retains and reliably transmits file data sufficient for the user to recover F in its entirety. A POR may be viewed as a kind of cryptographic proof of knowledge (POK), but one specially designed to handle a large file (or bitstring) F. We explore POR protocols here in which the communication costs, number of memory accesses for the prover, and storage requirements of the user (verifier) are small parameters essentially independent of the length of F. In addition to proposing new, practical POR constructions, we explore implementation considerations and optimizations that bear on previously explored, related schemes. In a POR, unlike a POK, neither the prover nor the verifier need actually have knowledge of F. PORs give rise to a new and unusual security definition whose formulation is another contribution of our work. We view PORs as an important tool for semi-trusted online archives. Existing cryptographic techniques help users ensure the privacy and integrity of files they retrieve. It is also natural, however, for users to want to verify that archives do not delete or modify files prior to retrieval. The goal of a POR is to accomplish these checks without users having to download the files themselves. A POR can also provide quality-of-service guarantees, i.e., show that a file is retrievable within a certain time bound.

On controller initialization in multivariable switching systems We consider a class of switched systems which consists of a linear MIMO and possibly unstable process in feedback interconnection with a multicontroller whose dynamics switch. It is shown how one can achieve significantly better transient performance by selecting the initial condition for every controller when it is inserted into the feedback loop. This initialization is obtained by performing the minimization of a quadratic cost function of the tracking error, controlled output, and control signal. We guarantee input-to-state stability of the closed-loop system when the average number of switches per unit of time is smaller than a specific value. If this is not the case then stability can still be achieved by adding a mild constraint to the optimization. We illustrate the use of our results in the control of a flexible beam actuated in torque. This system is unstable with two poles at the origin and contains several lightly damped modes, which can be easily excited by controller switching.

Completely Pinpointing the Missing RFID Tags in a Time-Efficient Way Radio Frequency Identification (RFID) technology has been widely used in inventory management in many scenarios, e.g., warehouses, retail stores, hospitals, etc. This paper investigates a challenging problem of complete identification of missing tags in large-scale RFID systems. Although this problem has attracted extensive attention from academy and industry, the existing work can hardly satisfy the stringent real-time requirements. In this paper, a Slot Filter-based Missing Tag Identification (SFMTI) protocol is proposed to reconcile some expected collision slots into singleton slots and filter out the expected empty slots as well as the unreconcilable collision slots, thereby achieving the improved time-efficiency. The theoretical analysis is conducted to minimize the execution time of the proposed SFMTI. We then propose a cost-effective method to extend SFMTI to the multi-reader scenarios. The extensive simulation experiments and performance results demonstrate that the proposed SFMTI protocol outperforms the most promising Iterative ID-free Protocol (IIP) by reducing nearly 45% of the required execution time, and is just within a factor of 1.18 from the lower bound of the minimum execution time.

An indoor localization solution using Bluetooth RSSI and multiple sensors on a smartphone. In this paper, we propose an indoor positioning system using a Bluetooth receiver, an accelerometer, a magnetic field sensor, and a barometer on a smartphone. The Bluetooth receiver is used to estimate distances from beacons. The accelerometer and magnetic field sensor are used to trace the movement of moving people in the given space. The horizontal location of the person is determined by received signal strength indications (RSSIs) and the traced movement. The barometer is used to measure the vertical position where a person is located. By combining RSSIs, the traced movement, and the vertical position, the proposed system estimates the indoor position of moving people. In experiments, the proposed approach showed excellent performance in localization with an overall error of 4.8%.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Effects of applying a VR‐based two‐tier test strategy to promote elementary students’ learning performance in a Geology class Science and technology are driving people's life changes, including education and the environment. Many scholars have attempted to import technology into the classroom to help students learn in different subjects. However, students often need assistance with unfamiliar learning approaches and learning environments. This study proposed a non-immersive virtual reality (VR) guidance system combined with a two-tier strategy to help students learn geology knowledge. Two groups of students used different learning approaches: the experimental group students were guided by the two-tier test VR guidance system, and the control group students learned with the conventional VR guidance system. According to the experimental result, the two-tier test VR guidance system not only improved the students' learning achievement in natural science, but also enhanced their learning motivation. In addition, according to the sequential results, we found that VR learning materials or environmental resources can help students answer questions and solve problems more effectively.

A Comparative Study of Distributed Learning Environments on Learning Outcomes Advances in information and communication technologies have fueled rapid growth in the popularity of technology-supported distributed learning (DL). Many educational institutions, both academic and corporate, have undertaken initiatives that leverage the myriad of available DL technologies. Despite their rapid growth in popularity, however, alternative technologies for DL are seldom systematically evaluated for learning efficacy. Considering the increasing range of information and communication technologies available for the development of DL environments, we believe it is paramount for studies to compare the relative learning outcomes of various technologies.In this research, we employed a quasi-experimental field study approach to investigate the relative learning effectiveness of two collaborative DL environments in the context of an executive development program. We also adopted a framework of hierarchical characteristics of group support system (GSS) technologies, outlined by DeSanctis and Gallupe (1987), as the basis for characterizing the two DL environments.One DL environment employed a simple e-mail and listserv capability while the other used a sophisticated GSS (herein referred to as Beta system). Interestingly, the learning outcome of the e-mail environment was higher than the learning outcome of the more sophisticated GSS environment. The post-hoc analysis of the electronic messages indicated that the students in groups using the e-mail system exchanged a higher percentage of messages related to the learning task. The Beta system users exchanged a higher level of technology sense-making messages. No significant difference was observed in the students' satisfaction with the learning process under the two DL environments.

The Representation of Virtual Reality in Education Students' opinions about the opportunities and the implications of VR in instruction were investigated by administering a questionnaire to humanities and engineering undergraduates. The questionnaire invited participants to rate a series of statements concerning motivation and emotion, skills, cognitive styles, benefits and learning outcomes associated with the use of VR in education. The representation which emerged was internally consistent and articulated into specific dimensions. It was not affected by gender, by the previous use of VR software, or by the knowledge of the main topics concerning the introduction of IT in instruction. Also the direct participation in a training session based on an immersive VR experience did not influence such a representation, which was partially modulated by the kind of course attended by students.

e-Learning, online learning, and distance learning environments: Are they the same? It is not uncommon that researchers face difficulties when performing meaningful cross-study comparisons for research. Research associated with the distance learning realm can be even more difficult to use as there are different environments with a variety of characteristics. We implemented a mixed-method analysis of research articles to find out how they define the learning environment. In addition, we surveyed 43 persons and discovered that there was inconsistent use of terminology for different types of delivery modes. The results reveal that there are different expectations and perceptions of learning environment labels: distance learning, e-Learning, and online learning.

Isolation And Distinctiveness In The Design Of E-Learning Systems Influence User Preferences When faced with excessive detail in an online environment, typical users have difficulty processing all the elements of representation. This in turn creates cognitive overload, which narrows the user's focus to a few select items. In the context of e-learning, we translated this aspect as the learner's demand for a system that facilitates the retrieval of learning content - one in which the representation is easy to read and understand. We hypothesized that the representation of content in an e-learning system's design is an important antecedent for learner preferences. The aspects of isolation and distinctiveness were incorporated into the design of e-learning representation as an attempt to promote student cognition. Following its development, the model was empirically validated by conducting a survey of 300 university students. We found that isolation and distinctiveness in the design elements appeared to facilitate the ability of students to read and remember online learning content. This in turn was found to drive user preferences for using e-learning systems. The findings provide designers with managerial insights for enticing learners to continue using e-learning systems.

Virtual special issue computers in human behavior technology enhanced distance learning should not forget how learning happens.

Virtual and augmented reality effects on K-12, higher and tertiary education students’ twenty-first century skills The purpose of this review article is to present state-of-the-art approaches and examples of virtual reality/augmented reality (VR/AR) systems, applications and experiences which improve student learning and the generalization of skills to the real world. Thus, we provide a brief, representative and non-exhaustive review of the current research studies, in order to examine the effects, as well as the impact of VR/AR technologies on K-12, higher and tertiary education students’ twenty-first century skills and their overall learning. According to the literature, there are promising results indicating that VR/AR environments improve learning outcomes and present numerous advantages of investing time and financial resources in K-12, higher and tertiary educational settings. Technological tools such as VR/AR improve digital-age literacy, creative thinking, communication, collaboration and problem solving ability, which constitute the so-called twenty-first century skills, necessary to transform information rather than just receive it. VR/AR enhances traditional curricula in order to enable diverse learning needs of students. Research and development relative to VR/AR technology is focused on a whole ecosystem around smart phones, including applications and educational content, games and social networks, creating immersive three-dimensional spatial experiences addressing new ways of human–computer interaction. Raising the level of engagement, promoting self-learning, enabling multi-sensory learning, enhancing spatial ability, confidence and enjoyment, promoting student-centered technology, combination of virtual and real objects in a real setting and decreasing cognitive load are some of the pedagogical advantages discussed. Additionally, implications of a growing VR/AR industry investment in educational sector are provided. It can be concluded that despite the fact that there are various barriers and challenges in front of the adoption of virtual reality on educational practices, VR/AR applications provide an effective tool to enhance learning and memory, as they provide immersed multimodal environments enriched by multiple sensory features.

Constrained Kalman filtering for indoor localization of transport vehicles using floor-installed HF RFID transponders Localization of transport vehicles is an important issue for many intralogistics applications. The paper presents an inexpensive solution for indoor localization of vehicles. Global localization is realized by detection of RFID transponders, which are integrated in the floor. The paper presents a novel algorithm for fusing RFID readings with odometry using Constraint Kalman filtering. The paper presents experimental results with a Mecanum based omnidirectional vehicle on a NaviFloor® installation, which includes passive HF RFID transponders. The experiments show that the proposed Constraint Kalman filter provides a similar localization accuracy compared to a Particle filter but with much lower computational expense.

Reliable Computation Offloading for Edge-Computing-Enabled Software-Defined IoV Internet of Vehicles (IoV) has drawn great interest recent years. Various IoV applications have emerged for improving the safety, efficiency, and comfort on the road. Cloud computing constitutes a popular technique for supporting delay-tolerant entertainment applications. However, for advanced latency-sensitive applications (e.g., auto/assisted driving and emergency failure management), cloud computing may result in excessive delay. Edge computing, which extends computing and storage capabilities to the edge of the network, emerges as an attractive technology. Therefore, to support these computationally intensive and latency-sensitive applications in IoVs, in this article, we integrate mobile-edge computing nodes (i.e., mobile vehicles) and fixed edge computing nodes (i.e., fixed road infrastructures) to provide low-latency computing services cooperatively. For better exploiting these heterogeneous edge computing resources, the concept of software-defined networking (SDN) and edge-computing-aided IoV (EC-SDIoV) is conceived. Moreover, in a complex and dynamic IoV environment, the outage of both processing nodes and communication links becomes inevitable, which may have life-threatening consequences. In order to ensure the completion with high reliability of latency-sensitive IoV services, we introduce both partial computation offloading and reliable task allocation with the reprocessing mechanism to EC-SDIoV. Since the optimization problem is nonconvex and NP-hard, a heuristic algorithm, fault-tolerant particle swarm optimization algorithm is designed for maximizing the reliability (FPSO-MR) with latency constraints. Performance evaluation results validate that the proposed scheme is indeed capable of reducing the latency as well as improving the reliability of the EC-SDIoV.

Trust in Automation: Designing for Appropriate Reliance. Automation is often problematic because people fail to rely upon it appropriately. Because people respond to technology socially, trust influences reliance on automation. In particular, trust guides reliance when complexity and unanticipated situations make a complete understanding of the automation impractical. This review considers trust from the organizational, sociological, interpersonal, psychological, and neurological perspectives. It considers how the context, automation characteristics, and cognitive processes affect the appropriateness of trust. The context in which the automation is used influences automation performance and provides a goal-oriented perspective to assess automation characteristics along a dimension of attributional abstraction. These characteristics can influence trust through analytic, analogical, and affective processes. The challenges of extrapolating the concept of trust in people to trust in automation are discussed. A conceptual model integrates research regarding trust in automation and describes the dynamics of trust, the role of context, and the influence of display characteristics. Actual or potential applications of this research include improved designs of systems that require people to manage imperfect automation.

A Model for Understanding How Virtual Reality Aids Complex Conceptual Learning Designers and evaluators of immersive virtual reality systems have many ideas concerning how virtual reality can facilitate learning. However, we have little information concerning which of virtual reality's features provide the most leverage for enhancing understanding or how to customize those affordances for different learning environments. In part, this reflects the truly complex nature of learning. Features of a learning environment do not act in isolation; other factors such as the concepts or skills to be learned, individual characteristics, the learning experience, and the interaction experience all play a role in shaping the learning process and its outcomes. Through Project Science Space, we have been trying to identify, use, and evaluate immersive virtual reality's affordances as a means to facilitate the mastery of complex, abstract concepts. In doing so, we are beginning to understand the interplay between virtual reality's features and other important factors in shaping the learning process and learning outcomes for this type of material. In this paper, we present a general model that describes how we think these factors work together and discuss some of the lessons we are learning about virtual reality's affordances in the context of this model for complex conceptual learning.

Cost-Effective Authentic and Anonymous Data Sharing with Forward Security Data sharing has never been easier with the advances of cloud computing, and an accurate analysis on the shared data provides an array of benefits to both the society and individuals. Data sharing with a large number of participants must take into account several issues, including efficiency, data integrity and privacy of data owner. Ring signature is a promising candidate to construct an anonymous and authentic data sharing system. It allows a data owner to anonymously authenticate his data which can be put into the cloud for storage or analysis purpose. Yet the costly certificate verification in the traditional public key infrastructure (PKI) setting becomes a bottleneck for this solution to be scalable. Identity-based (ID-based) ring signature, which eliminates the process of certificate verification, can be used instead. In this paper, we further enhance the security of ID-based ring signature by providing forward security: If a secret key of any user has been compromised, all previous generated signatures that include this user still remain valid. This property is especially important to any large scale data sharing system, as it is impossible to ask all data owners to reauthenticate their data even if a secret key of one single user has been compromised. We provide a concrete and efficient instantiation of our scheme, prove its security and provide an implementation to show its practicality.

Distributed Kalman consensus filter with event-triggered communication: Formulation and stability analysis. •The problem of distributed state estimation in sensor networks with event-triggered communication schedules on both sensor-to-estimator channel and estimator-to-estimator channel is studied.•An event-triggered KCF is designed by deriving the optimal Kalman gain matrix which minimizes the mean squared error.•A computational scalable form of the proposed filter is presented by some approximations.•An appropriate choice of the consensus gain matrix is provided to ensure the stochastic stability of the proposed filter.

Learning Feature Recovery Transformer for Occluded Person Re-Identification One major issue that challenges person re-identification (Re-ID) is the ubiquitous occlusion over the captured persons. There are two main challenges for the occluded person Re-ID problem, i.e., the interference of noise during feature matching and the loss of pedestrian information brought by the occlusions. In this paper, we propose a new approach called Feature Recovery Transformer (FRT) to address the two challenges simultaneously, which mainly consists of visibility graph matching and feature recovery transformer. To reduce the interference of the noise during feature matching, we mainly focus on visible regions that appear in both images and develop a visibility graph to calculate the similarity. In terms of the second challenge, based on the developed graph similarity, for each query image, we propose a recovery transformer that exploits the feature sets of its k-nearest neighbors in the gallery to recover the complete features. Extensive experiments across different person Re-ID datasets, including occluded, partial and holistic datasets, demonstrate the effectiveness of FRT. Specifically, FRT significantly outperforms state-of-the-art results by at least 6.2% Rank- 1 accuracy and 7.2% mAP scores on the challenging Occluded-Duke dataset.

PSCC-Net: Progressive Spatio-Channel Correlation Network for Image Manipulation Detection and Localization To defend against manipulation of image content, such as splicing, copy-move, and removal, we develop a Progressive Spatio-Channel Correlation Network (PSCC-Net) to detect and localize image manipulations. PSCC-Net processes the image in a two-path procedure: a top-down path that extracts local and global features and a bottom-up path that detects whether the input image is manipulated, and estimates its manipulation masks at multiple scales, where each mask is conditioned on the previous one. Different from the conventional encoder-decoder and no-pooling structures, PSCC-Net leverages features at different scales with dense cross-connections to produce manipulation masks in a coarse-to-fine fashion. Moreover, a Spatio-Channel Correlation Module (SCCM) captures both spatial and channel-wise correlations in the bottom-up path, which endows features with holistic cues, enabling the network to cope with a wide range of manipulation attacks. Thanks to the light-weight backbone and progressive mechanism, PSCC-Net can process <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$1,080\text{P}$ </tex-math></inline-formula> images at 50+FPS. Extensive experiments demonstrate the superiority of PSCC-Net over the state-of-the-art methods on both detection and localization. Codes and models are available at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/proteus1991/PSCC-Net</uri> .

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Finite-Time Stability of Switched and Hybrid Systems. In this paper, we study finite-time stability of switched and hybrid systems. We present sufficient conditions in terms of multiple generalized Lyapunov functions for the origin of the switched system to be finite-time stable. We show that even if the value of the generalized Lyapunov function increases between consecutive switches, finite-time stability can still be guaranteed if the finite-time convergent mode is active long enough. We also present a method of designing a finite-time stabilizing switching law. We use the developed schemes to design a finite-time stable state observer for linear switched systems for the case when only one of the modes is observable. Finally, we extend our results to the general case of hybrid systems and present sufficient conditions in terms of multiple generalized Lyapunov functions for finite-time stability of the origin. In contrast to prior work, where the Lyapunov functions are required to be decreasing during the continuous flow and non-increasing at the discrete jumps, we allow the individual generalized Lyapunov functions to increase both during the continuous flows and the discrete jumps. Numerical examples demonstrate the efficacy of the proposed methods.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Perceive Where to Focus: Learning Visibility-Aware Part-Level Features for Partial Person Re-Identification This paper considers a realistic problem in person re-identification (re-ID) task, i.e., partial re-ID. Under partial re-ID scenario, the images may contain a partial observation of a pedestrian. If we directly compare a partial pedestrian image with a holistic one, the extreme spatial misalignment significantly compromises the discriminative ability of the learned representation. We propose a Visibility-aware Part Model (VPM) for partial re-ID, which learns to perceive the visibility of regions through self-supervision. The visibility awareness allows VPM to extract region-level features and compare two images with focus on their shared regions (which are visible on both images). VPM gains two-fold benefit toward higher accuracy for partial re-ID. On the one hand, compared with learning a global feature, VPM learns region-level features and thus benefits from fine-grained information. On the other hand, with visibility awareness, VPM is capable to estimate the shared regions between two images and thus suppresses the spatial misalignment. Experimental results confirm that our method significantly improves the learned feature representation and the achieved accuracy is on par with the state of the art.

High-Order Information Matters: Learning Relation And Topology For Occluded Person Re-Identification Occluded person re-identification (ReID) aims to match occluded person images to holistic ones across disjoint cameras. In this paper, we propose a novel framework by learning high-order relation and topology information for discriminative features and robust alignment. At first, we use a CNN backbone and a key-points estimation model to extract semantic local features. Even so, occluded images still suffer from occlusion and outliers. Then, we view the local features of an image as nodes of a graph and propose an adaptive direction graph convolutional (ADGC) layer to pass relation information between nodes. The proposed ADGC layer can automatically suppress the message passing of meaningless features by dynamically learning direction and degree of linkage. When aligning two groups of local features from two images, we view it as a graph matching problem and propose a cross-graph embedded-alignment (CGEA) layer to jointly learn and embed topology information to local features, and straightly predict similarity score. The proposed CGEA layer not only take full use of alignment learned by graph matching but also replace sensitive one-to-one matching with a robust soft one. Finally, extensive experiments on occluded, partial, and holistic ReID tasks show the effectiveness of our proposed method. Specifically, our framework significantly outperforms state-of-the-art by 6.5% mAP scores on Occluded-Duke dataset. Code is available at https://github.com/wangguanan/HOReID.

Vrstc: Occlusion-Free Video Person Re-Identification Video person re-identification (re-ID) plays an important role in surveillance video analysis. However, the performance of video re-ID degenerates severely under partial occlusion. In this paper, we propose a novel network, called Spatio-Temporal Completion network (STCnet), to explicitly handle partial occlusion problem. Different from most previous works that discard the occluded frames, STCnet can recover the appearance of the occluded parts. For one thing, the spatial structure of a pedestrian frame can be used to predict the occluded body parts from the unoccluded body parts of this frame. For another, the temporal patterns of pedestrian sequence provide important clues to generate the contents of occluded parts. With the spatio-temporal information, STCnet can recover the appearance for the occluded parts, which could be leveraged with those unoccluded parts for more accurate video re-ID. By combining a re-ID network with STCnet, a video re-ID framework robust to partial occlusion (VRSTC) is proposed. Experiments on three challenging video re-ID databases demonstrate that the proposed approach outperforms the state-of-the-arts.

Deep Feature Learning via Structured Graph Laplacian Embedding for Person Re-Identification. •This paper is the first to formulates the structured distance relationships into the graph Laplacian form for deep feature learning.•Joint learning method is used in the framework to learn discriminative features.•The results show clear improvements on public benchmark datasets and some are the state-of-the-art.

Diverse Part Discovery: Occluded Person Re-identification with Part-Aware Transformer Occluded person re-identification (Re-ID) is a challenging task as persons are frequently occluded by various obstacles or other persons, especially in the crowd scenario. To address these issues, we propose a novel end-to-end Part-Aware Transformer (PAT) for occluded person Re-ID through diverse part discovery via a transformer encoder-decoder architecture, including a pixel context based transformer encoder and a part prototype based transformer decoder. The proposed PAT model enjoys several merits. First, to the best of our knowledge, this is the first work to exploit the transformer encoder-decoder architecture for occluded person Re-ID in a unified deep model. Second, to learn part prototypes well with only identity labels, we design two effective mechanisms including part diversity and part discriminability. Consequently, we can achieve diverse part discovery for occluded person Re-ID in a weakly supervised manner. Extensive experimental results on six challenging benchmarks for three tasks (occluded, partial and holistic Re-ID) demonstrate that our proposed PAT performs favorably against stat-of-the-art methods.

Deep High-Resolution Representation Learning For Human Pose Estimation In this paper, we are interested in the human pose estimation problem with a focus on learning reliable high-resolution representations. Most existing methods recover high-resolution representations from low-resolution representations produced by a high-to-low resolution network. Instead, our proposed network maintains high-resolution representations through the whole process.We start from a high-resolution subnetwork as the first stage, gradually add high-to-low resolution subnetworks one by one to form more stages, and connect the mutli-resolution subnetworks in parallel. We conduct repeated multi-scale fusions such that each of the high-to-low resolution representations receives information from other parallel representations over and over, leading to rich high-resolution representations. As a result, the predicted keypoint heatmap is potentially more accurate and spatially more precise. We empirically demonstrate the effectiveness of our network through the superior pose estimation results over two benchmark datasets: the COCO keypoint detection dataset and the MPII Human Pose dataset. In addition, we show the superiority of our network in pose tracking on the PoseTrack dataset.

Invariance Matters: Exemplar Memory for Domain Adaptive Person Re-Identification This paper considers the domain adaptive person re-identification (re-ID) problem: learning a re-ID model from a labeled source domain and an unlabeled target domain. Conventional methods are mainly to reduce feature distribution gap between the source and target domains. However, these studies largely neglect the intra-domain variations in the target domain, which contain critical factors influencing the testing performance on the target domain. In this work, we comprehensively investigate into the intra-domain variations of the target domain and propose to generalize the re-ID model w.r.t three types of the underlying invariance, i.e., exemplar-invariance, camera-invariance and neighborhood-invariance. To achieve this goal, an exemplar memory is introduced to store features of the target domain and accommodate the three invariance properties. The memory allows us to enforce the invariance constraints over global training batch without significantly increasing computation cost. Experiment demonstrates that the three invariance properties and the proposed memory are indispensable towards an effective domain adaptation system. Results on three re-ID domains show that our domain adaptation accuracy outperforms the state of the art by a large margin. Code is available at: https://github.com/zhunzhong07/ECN.

Undoing the damage of dataset bias The presence of bias in existing object recognition datasets is now well-known in the computer vision community. While it remains in question whether creating an unbiased dataset is possible given limited resources, in this work we propose a discriminative framework that directly exploits dataset bias during training. In particular, our model learns two sets of weights: (1) bias vectors associated with each individual dataset, and (2) visual world weights that are common to all datasets, which are learned by undoing the associated bias from each dataset. The visual world weights are expected to be our best possible approximation to the object model trained on an unbiased dataset, and thus tend to have good generalization ability. We demonstrate the effectiveness of our model by applying the learned weights to a novel, unseen dataset, and report superior results for both classification and detection tasks compared to a classical SVM that does not account for the presence of bias. Overall, we find that it is beneficial to explicitly account for bias when combining multiple datasets.

Neural Architecture Transfer Neural architecture search (NAS) has emerged as a promising avenue for automatically designing task-specific neural networks. Existing NAS approaches require one complete search for each deployment specification of hardware or objective. This is a computationally impractical endeavor given the potentially large number of application scenarios. In this paper, we propose Neural Architecture ...

Metaheuristics in combinatorial optimization: Overview and conceptual comparison The field of metaheuristics for the application to combinatorial optimization problems is a rapidly growing field of research. This is due to the importance of combinatorial optimization problems for the scientific as well as the industrial world. We give a survey of the nowadays most important metaheuristics from a conceptual point of view. We outline the different components and concepts that are used in the different metaheuristics in order to analyze their similarities and differences. Two very important concepts in metaheuristics are intensification and diversification. These are the two forces that largely determine the behavior of a metaheuristic. They are in some way contrary but also complementary to each other. We introduce a framework, that we call the I&D frame, in order to put different intensification and diversification components into relation with each other. Outlining the advantages and disadvantages of different metaheuristic approaches we conclude by pointing out the importance of hybridization of metaheuristics as well as the integration of metaheuristics and other methods for optimization.

One-class support vector machines: an application in machine fault detection and classification Fast incipient machine fault diagnosis is becoming one of the key requirements for economical and optimal process operation management. Artificial neural networks have been used to detect machine faults for a number of years and shown to be highly successful in this application area. This paper presents a novel test technique for machine fault detection and classification in electro-mechanical machinery from vibration measurements using one-class support vector machines (SVMs). In order to evaluate one-class SVMs, this paper examines the performance of the proposed method by comparing it with that of multilayer perception, one of the artificial neural network techniques, based on real benchmarking data.

Survey of Important Issues in UAV Communication Networks Unmanned aerial vehicles (UAVs) have enormous potential in the public and civil domains. These are particularly useful in applications, where human lives would otherwise be endangered. Multi-UAV systems can collaboratively complete missions more efficiently and economically as compared to single UAV systems. However, there are many issues to be resolved before effective use of UAVs can be made to provide stable and reliable context-specific networks. Much of the work carried out in the areas of mobile ad hoc networks (MANETs), and vehicular ad hoc networks (VANETs) does not address the unique characteristics of the UAV networks. UAV networks may vary from slow dynamic to dynamic and have intermittent links and fluid topology. While it is believed that ad hoc mesh network would be most suitable for UAV networks yet the architecture of multi-UAV networks has been an understudied area. Software defined networking (SDN) could facilitate flexible deployment and management of new services and help reduce cost, increase security and availability in networks. Routing demands of UAV networks go beyond the needs of MANETS and VANETS. Protocols are required that would adapt to high mobility, dynamic topology, intermittent links, power constraints, and changing link quality. UAVs may fail and the network may get partitioned making delay and disruption tolerance an important design consideration. Limited life of the node and dynamicity of the network lead to the requirement of seamless handovers, where researchers are looking at the work done in the areas of MANETs and VANETs, but the jury is still out. As energy supply on UAVs is limited, protocols in various layers should contribute toward greening of the network. This paper surveys the work done toward all of these outstanding issues, relating to this new class of networks, so as to spur further research in these areas.

Unmanned Aerial Vehicle-Aided Communications: Joint Transmit Power and Trajectory Optimization. This letter investigates the transmit power and trajectory optimization problem for unmanned aerial vehicle (UAV)-aided networks. Different from majority of the existing studies with fixed communication infrastructure, a dynamic scenario is considered where a flying UAV provides wireless services for multiple ground nodes simultaneously. To fully exploit the controllable channel variations provide...

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Improving Viewing Experiences of First-Person Shooter Gameplays with Automatically-Generated Motion Effects ABSTRACTIn recent times, millions of people enjoy watching video gameplays at an eSports stadium or home. We seek a method that improves gameplay spectator or viewer experiences by presenting multisensory stimuli. Using a motion chair, we provide the motion effects automatically generated from the audiovisual stream to the viewers watching a first-person shooter (FPS) gameplay. The motion effects express the game character’s movement and gunfire action. We describe algorithms for the computation of such motion effects developed using computer vision techniques and deep learning. By a user study, we demonstrate that our method of providing motion effects significantly improves the viewing experiences of FPS gameplay. The contributions of this paper are with the motion synthesis algorithms integrated for FPS games and the empirical evidence for the benefits of experiencing multisensory gameplays.

Camera Space Synthesis of Motion Effects Emphasizing a Moving Object in 4D films Four-dimensional (4D) films, which provide special physical effects to the audience with audiovisual stimuli, are gaining more popularity and acceptance. One of the most frequent 4D effects is the object-based motion effect, which refers to the vestibular stimulus generated by a motion chair to emphasize a moving object of interest, e.g., the flying iron man, displayed on the screen. In this paper...

A global averaging method for dynamic time warping, with applications to clustering Mining sequential data is an old topic that has been revived in the last decade, due to the increasing availability of sequential datasets. Most works in this field are centred on the definition and use of a distance (or, at least, a similarity measure) between sequences of elements. A measure called dynamic time warping (DTW) seems to be currently the most relevant for a large panel of applications. This article is about the use of DTW in data mining algorithms, and focuses on the computation of an average of a set of sequences. Averaging is an essential tool for the analysis of data. For example, the K-means clustering algorithm repeatedly computes such an average, and needs to provide a description of the clusters it forms. Averaging is here a crucial step, which must be sound in order to make algorithms work accurately. When dealing with sequences, especially when sequences are compared with DTW, averaging is not a trivial task. Starting with existing techniques developed around DTW, the article suggests an analysis framework to classify averaging techniques. It then proceeds to study the two major questions lifted by the framework. First, we develop a global technique for averaging a set of sequences. This technique is original in that it avoids using iterative pairwise averaging. It is thus insensitive to ordering effects. Second, we describe a new strategy to reduce the length of the resulting average sequence. This has a favourable impact on performance, but also on the relevance of the results. Both aspects are evaluated on standard datasets, and the evaluation shows that they compare favourably with existing methods. The article ends by describing the use of averaging in clustering. The last section also introduces a new application domain, namely the analysis of satellite image time series, where data mining techniques provide an original approach.

Piecewise linear mapping functions for image registration A new approach to determination of mapping functions for registration of digital images is presented. Given the coordinates of corresponding control points in two images of the same scene, first the images are divided into triangular regions by triangulating the control points. Then a linear mapping function is obtained by registering each pair of corresponding triangular regions in the images. The overall mapping function is then obtained by piecing together the linear mapping functions.

Saliency-driven real-time video-to-tactile translation. Tactile feedback coordinated with visual stimuli has proven its worth in mediating immersive multimodal experiences, yet its authoring has relied on content artists. This article presents a fully automated framework of generating tactile cues from streaming images to provide synchronized visuotactile stimuli in real time. The spatiotemporal features of video images are analyzed on the basis of visual saliency and then mapped into the tactile cues that are rendered on tactors installed on a chair. We also conducted two user experiments for performance evaluation. The first experiment investigated the effects of visuotactile rendering against visual-only rendering, demonstrating that the visuotactile rendering improved the movie watching experience to be more interesting, immersive, and understandable. The second experiment was performed to compare the effectiveness of authoring methods and found that the automated authoring approach, used with care, can produce plausible tactile effects similar in quality to manual authoring.

Investigating 4d Movie Audiences' Emotional Responses To Motion Effects And Empathy Designing 4D effects corresponding to audiences' emotional responses is important because 4D effects are critical components of 4D movies that provide rich emotional experiences. The recent increasing popularity of 4D content has led to the development of motion effect technology, which involves motions of the chair according to the scene. However, it is difficult to find studies that systematically investigated the influence of motion effects on audiences' emotional responses. This study investigated the emotional responses of a 4D movie audience to motion effects according to their level of empathy. Participants (mean: 25.0 years, standard deviation: 5.0) with varying levels of empathy watched movie clips provided with or without single pitch motion effects. The degree that the motion effect and empathy affected the elicited emotions differed depending on the emotion type. For example, participants with high empathy reported stronger intensity of fear when short and weak motion effects were exhibited than when there was no motion effect. Distinct motion effect design guidelines that can be adopted to enhance audiences' emotional experiences were proposed. The findings can be referred to when investigating the emotional responses of 4D movie audiences.

Feel Effects: Enriching Storytelling with Haptic Feedback Despite a long history of use in communication, haptic feedback is a relatively new addition to the toolbox of special effects. Unlike artists who use sound or vision, haptic designers cannot simply access libraries of effects that map cleanly to media content, and they lack even guiding principles for creating such effects. In this article, we make progress toward both capabilities: we generate a foundational library of usable haptic vocabulary and do so with a methodology that allows ongoing additions to the library in a principled and effective way. We define a feel effect as an explicit pairing between a meaningful linguistic phrase and a rendered haptic pattern. Our initial experiment demonstrates that users who have only their intrinsic language capacities, and no haptic expertise, can generate a core set of feel effects that lend themselves via semantic inference to the design of additional effects. The resulting collection of more than 40 effects covers a wide range of situations (including precipitation, animal locomotion, striking, and pulsating events) and is empirically shown to produce the named sensation for the majority of our test users in a second experiment. Our experiments demonstrate a unique and systematic approach to designing a vocabulary of haptic sensations that are related in both the semantic and parametric spaces.

A survey on sensor networks The advancement in wireless communications and electronics has enabled the development of low-cost sensor networks. The sensor networks can be used for various application areas (e.g., health, military, home). For different application areas, there are different technical issues that researchers are currently resolving. The current state of the art of sensor networks is captured in this article, where solutions are discussed under their related protocol stack layer sections. This article also points out the open research issues and intends to spark new interests and developments in this field.

Energy-Aware Task Offloading and Resource Allocation for Time-Sensitive Services in Mobile Edge Computing Systems Mobile Edge Computing (MEC) is a promising architecture to reduce the energy consumption of mobile devices and provide satisfactory quality-of-service to time-sensitive services. How to jointly optimize task offloading and resource allocation to minimize the energy consumption subject to the latency requirement remains an open problem, which motivates this paper. When the latency constraint is tak...

On signatures of knowledge In a traditional signature scheme, a signature σ on a message m is issued under a public key PK, and can be interpreted as follows: “The owner of the public key PK and its corresponding secret key has signed message m.” In this paper we consider schemes that allow one to issue signatures on behalf of any NP statement, that can be interpreted as follows: “A person in possession of a witness w to the statement that x ∈L has signed message m.” We refer to such schemes as signatures of knowledge. We formally define the notion of a signature of knowledge. We begin by extending the traditional definition of digital signature schemes, captured by Canetti's ideal signing functionality, to the case of signatures of knowledge. We then give an alternative definition in terms of games that also seems to capture the necessary properties one may expect from a signature of knowledge. We then gain additional confidence in our two definitions by proving them equivalent. We construct signatures of knowledge under standard complexity assumptions in the common-random-string model. We then extend our definition to allow signatures of knowledge to be nested i.e., a signature of knowledge (or another accepting input to a UC-realizable ideal functionality) can itself serve as a witness for another signature of knowledge. Thus, as a corollary, we obtain the first delegatable anonymous credential system, i.e., a system in which one can use one's anonymous credentials as a secret key for issuing anonymous credentials to others.

Dynamic transfer among alternative controllers and its relation to antiwindup controller design Advanced control strategies and modern consulting provide new challenges for the classical problem of bumpless transfer. It can, for example, be necessary to transfer between an only approximately known existing analog controller and a new digital or adaptive controller without accessing any states. Transfer ought to be bidirectional and not presuppose steady state, so that an immediate back-transfer is possible if the new controller should drive the plant unstable. We present a scheme that meets these requirements. By casting the problem of bidirectional transfer into an associated tracking control problem, systematic analysis and design procedures from control theory can be applied. The associated control problem also has a correspondence to the design of antiwindup controllers. The paper includes laboratory and industrial applications.

Segmentation-Based Image Copy-Move Forgery Detection Scheme In this paper, we propose a scheme to detect the copy-move forgery in an image, mainly by extracting the keypoints for comparison. The main difference to the traditional methods is that the proposed scheme first segments the test image into semantically independent patches prior to keypoint extraction. As a result, the copy-move regions can be detected by matching between these patches. The matching process consists of two stages. In the first stage, we find the suspicious pairs of patches that may contain copy-move forgery regions, and we roughly estimate an affine transform matrix. In the second stage, an Expectation-Maximization-based algorithm is designed to refine the estimated matrix and to confirm the existence of copy-move forgery. Experimental results prove the good performance of the proposed scheme via comparing it with the state-of-the-art schemes on the public databases.

An indoor localization solution using Bluetooth RSSI and multiple sensors on a smartphone. In this paper, we propose an indoor positioning system using a Bluetooth receiver, an accelerometer, a magnetic field sensor, and a barometer on a smartphone. The Bluetooth receiver is used to estimate distances from beacons. The accelerometer and magnetic field sensor are used to trace the movement of moving people in the given space. The horizontal location of the person is determined by received signal strength indications (RSSIs) and the traced movement. The barometer is used to measure the vertical position where a person is located. By combining RSSIs, the traced movement, and the vertical position, the proposed system estimates the indoor position of moving people. In experiments, the proposed approach showed excellent performance in localization with an overall error of 4.8%.

Hardware Circuits Design and Performance Evaluation of a Soft Lower Limb Exoskeleton Soft lower limb exoskeletons (LLEs) are wearable devices that have good potential in walking rehabilitation and augmentation. While a few studies focused on the structure design and assistance force optimization of the soft LLEs, rarely work has been conducted on the hardware circuits design. The main purpose of this work is to present a new soft LLE for walking efficiency improvement and introduce its hardware circuits design. A soft LLE for hip flexion assistance and a hardware circuits system with scalability were proposed. To assess the efficacy of the soft LLE, the experimental tests that evaluate the sensor data acquisition, force tracking performance, lower limb muscle activity and metabolic cost were conducted. The time error in the peak assistance force was just 1%. The reduction in the normalized root-mean-square EMG of the rectus femoris was 7.1%. The net metabolic cost in exoskeleton on condition was reduced by 7.8% relative to walking with no exoskeleton. The results show that the designed hardware circuits can be applied to the soft LLE and the soft LLE is able to improve walking efficiency of wearers.

Chaotic cuckoo search This study proposes a novel chaotic cuckoo search (CCS) optimization method by incorporating chaotic theory into cuckoo search (CS) algorithm. In CCS, chaos characteristics are combined with the CS with the intention of further enhancing its performance. Further, the elitism scheme is incorporated into CCS to preserve the best cuckoos. In CCS method, 12 chaotic maps are applied to tune the step size of the cuckoos used in the original CS method. Twenty-seven benchmark functions and an engineering case are utilized to investigate the efficiency of CCS. The results clearly demonstrate that the performance of CCS together with a suitable chaotic map is comparable as well as superior to that of the CS and other metaheuristic algorithms.

Tabu search based multi-watermarks embedding algorithm with multiple description coding Digital watermarking is a useful solution for digital rights management systems, and it has been a popular research topic in the last decade. Most watermarking related literature focuses on how to resist deliberate attacks by applying benchmarks to watermarked media that assess the effectiveness of the watermarking algorithm. Only a few papers have concentrated on the error-resilient transmission of watermarked media. In this paper, we propose an innovative algorithm for vector quantization (VQ) based image watermarking, which is suitable for error-resilient transmission over noisy channels. By incorporating watermarking with multiple description coding (MDC), the scheme we propose to embed multiple watermarks can effectively overcome channel impairments while retaining the capability for copyright and ownership protection. In addition, we employ an optimization technique, called tabu search, to optimize both the watermarked image quality and the robustness of the extracted watermarks. We have obtained promising simulation results that demonstrate the utility and practicality of our algorithm. (C) 2011 Elsevier Inc. All rights reserved.

On Deployment of Wireless Sensors on 3-D Terrains to Maximize Sensing Coverage by Utilizing Cat Swarm Optimization With Wavelet Transform. In this paper, a deterministic sensor deployment method based on wavelet transform (WT) is proposed. It aims to maximize the quality of coverage of a wireless sensor network while deploying a minimum number of sensors on a 3-D surface. For this purpose, a probabilistic sensing model and Bresenham's line of sight algorithm are utilized. The WT is realized by an adaptive thresholding approach for the generation of the initial population. Another novel aspect of the paper is that the method followed utilizes a Cat Swarm Optimization (CSO) algorithm, which mimics the behavior of cats. We have modified the CSO algorithm so that it can be used for sensor deployment problems on 3-D terrains. The performance of the proposed algorithm is compared with the Delaunay Triangulation and Genetic Algorithm based methods. The results reveal that CSO based sensor deployment which utilizes the wavelet transform method is a powerful and successful method for sensor deployment on 3-D terrains.

FPGA-Based Parallel Metaheuristic PSO Algorithm and Its Application to Global Path Planning for Autonomous Robot Navigation This paper presents a field-programmable gate array (FPGA)-based parallel metaheuristic particle swarm optimization algorithm (PPSO) and its application to global path planning for autonomous robot navigating in structured environments with obstacles. This PPSO consists of three parallel PSOs along with a communication operator in one FPGA chip. The parallel computing architecture takes advantages of maintaining better population diversity and inhibiting premature convergence in comparison with conventional PSOs. The collision-free discontinuous path generated from the PPSO planner is then smoothed using the cubic B-spline and system-on-a-programmable-chip (SoPC) technology. Experimental results are conducted to show the merit of the proposed FPGA-based PPSO path planner and smoother for global path planning of autonomous mobile robot navigation.

QUasi-Affine TRansformation Evolution with External ARchive (QUATRE-EAR): An enhanced structure for Differential Evolution Optimization demands are ubiquitous in science and engineering. The key point is that the approach to tackle a complex optimization problem should not itself be difficult. Differential Evolution (DE) is such a simple method, and it is arguably a very powerful stochastic real-parameter algorithm for single-objective optimization. However, the performance of DE is highly dependent on control parameters and mutation strategies. Both tuning the control parameters and selecting the proper mutation strategy are still tedious but important tasks for users. In this paper, we proposed an enhanced structure for DE algorithm with less control parameters to be tuned. The crossover rate control parameter Cr is replaced by an automatically generated evolution matrix and the control parameter F can be renewed in an adaptive manner during the whole evolution. Moreover, an enhanced mutation strategy with time stamp mechanism is advanced as well in this paper. CEC2013 test suite for real-parameter single objective optimization is employed in the verification of the proposed algorithm. Experiment results show that our proposed algorithm is competitive with several well-known DE variants.

A Parallel Multi-Verse Optimizer for Application in Multilevel Image Segmentation Multi-version optimizer (MVO) inspired by the multi-verse theory is a new optimization algorithm for challenging multiple parameter optimization problems in the real world. In this paper, a novel parallel multi-verse optimizer (PMVO) with the communication strategy is proposed. The parallel mechanism is implemented to randomly divide the initial solutions into several groups, and share the information of different groups after each fixed iteration. This can significantly promote the cooperation individual of MVO algorithm, and reduce the deficiencies that the original MVO is premature convergence, search stagnation and easily trap into local optimal search space. To confirm the performance of the proposed scheme, the PMVO algorithm was compared with the other well-known optimization algorithms, such as gray wolf optimizer (GWO), particle swarm optimization (PSO), multi-version optimizer (MVO), and parallel particle swarm optimization (PPSO) under CEC2013 test suite. The experimental results prove that the PMVO is superior to the other compared algorithms. In addition, PMVO is also applied to solve complex multilevel image segmentation problems based on minimum cross entropy thresholding. The application results appear that the proposed PMVO algorithm can achieve higher quality image segmentation compared to other similar algorithms.

Multi-Verse Optimizer: a nature-inspired algorithm for global optimization. This paper proposes a novel nature-inspired algorithm called Multi-Verse Optimizer (MVO). The main inspirations of this algorithm are based on three concepts in cosmology: white hole, black hole, and wormhole. The mathematical models of these three concepts are developed to perform exploration, exploitation, and local search, respectively. The MVO algorithm is first benchmarked on 19 challenging test problems. It is then applied to five real engineering problems to further confirm its performance. To validate the results, MVO is compared with four well-known algorithms: Grey Wolf Optimizer, Particle Swarm Optimization, Genetic Algorithm, and Gravitational Search Algorithm. The results prove that the proposed algorithm is able to provide very competitive results and outperforms the best algorithms in the literature on the majority of the test beds. The results of the real case studies also demonstrate the potential of MVO in solving real problems with unknown search spaces. Note that the source codes of the proposed MVO algorithm are publicly available at http://www.alimirjalili.com/MVO.html.

A Novel Method for Detecting New Overlapping Community in Complex Evolving Networks It is an important challenge to detect an overlapping community and its evolving tendency in a complex network. To our best knowledge, there is no such an overlapping community detection method that exhibits high normalized mutual information (NMI) and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${F}$ </tex-math></inline-formula> -score, and can also predict an overlapping community’s future considering node evolution, activeness, and multiscaling. This paper presents a novel method based on node vitality, an extension of node fitness for modeling network evolution constrained by multiscaling and preferential attachment. First, according to a node’s dynamics such as link creation and destruction, we find node vitality by comparing consecutive network snapshots. Then, we combine it with the fitness function to obtain a new objective function. Next, by optimizing the objective function, we expand maximal cliques, reassign overlapping nodes, and find the overlapping community that matches not only the current network but also the future version of the network. Through experiments, we show that its NMI and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${F}$ </tex-math></inline-formula> -score exceed those of the state-of-the-art methods under diverse conditions of overlaps and connection densities. We also validate the effectiveness of node vitality for modeling a node’s evolution. Finally, we show how to detect an overlapping community in a real-world evolving network.

Footprints: history-rich tools for information foraging Inspired by Hill and Hollans original work [7], we have beendeveloping a theory of interaction history and building tools toapply this theory to navigation in a complex information space. Wehave built a series of tools - map, paths, annota- tions andsignposts - based on a physical-world navigation metaphor. Thesetools have been in use for over a year. Our user study involved acontrolled browse task and showed that users were able to get thesame amount of work done with significantly less effort.

On the History of the Minimum Spanning Tree Problem It is standard practice among authors discussing the minimum spanning tree problem to refer to the work of Kruskal(1956) and Prim (1957) as the sources of the problem and its first efficient solutions, despite the citation by both of Boruvka (1926) as a predecessor. In fact, there are several apparently independent sources and algorithmic solutions of the problem. They have appeared in Czechoslovakia, France, and Poland, going back to the beginning of this century. We shall explore and compare these works and their motivations, and relate them to the most recent advances on the minimum spanning tree problem.

The graph Voronoi diagram with applications The Voronoi diagram is a famous structure of computational geometry. We show that there is a straightforward equivalent in graph theory which can be efficiently computed. In particular, we give two algorithms for the computation of graph Voronoi diagrams, prove a lower bound on the problem, and identify cases where the algorithms presented are optimal. The space requirement of a graph Voronoi diagram is modest, since it needs no more space than does the graph itself. The investigation of graph Voronoi diagrams is motivated by many applications and problems on networks that can be easily solved with their help. This includes the computation of nearest facilities, all nearest neighbors and closest pairs, some kind of collision free moving, and anticenters and closest points. (C) 2000 John Wiley & Sons, Inc.

An efficient conditionally anonymous ring signature in the random oracle model A conditionally anonymous ring signature is an exception since the anonymity is conditional. Specifically, it allows an entity to confirm/refute the signature that he generated before. A group signature also shares the same property since a group manager can revoke a signer's anonymity using the trapdoor information. However, the special node (i.e., group manager) does not exist in the group in order to satisfy the ad hoc fashion. In this paper, we construct a new conditionally anonymous ring signature, in which the actual signer can be traced without the help of the group manager. The big advantage of the confirmation and disavowal protocols designed by us are non-interactive with constant costs while the known schemes suffer from the linear cost in terms of the ring size n or security parameter s.

A Tutorial on UAVs for Wireless Networks: Applications, Challenges, and Open Problems. The use of flying platforms such as unmanned aerial vehicles (UAVs), popularly known as drones, is rapidly growing in a wide range of wireless networking applications. In particular, with their inherent attributes such as mobility, flexibility, and adaptive altitude, UAVs admit several key potential applications in wireless systems. On the one hand, UAVs can be used as aerial base stations to enhance coverage, capacity, reliability, and energy efficiency of wireless networks. For instance, UAVs can be deployed to complement existing cellular systems by providing additional capacity to hotspot areas as well as to provide network coverage in emergency and public safety situations. On the other hand, UAVs can operate as flying mobile terminals within the cellular networks. In this paper, a comprehensive tutorial on the potential benefits and applications of UAVs in wireless communications is presented. Moreover, the important challenges and the fundamental tradeoffs in UAV-enabled wireless networks are thoroughly investigated. In particular, the key UAV challenges such as three-dimensional deployment, performance analysis, air-to-ground channel modeling, and energy efficiency are explored along with representative results. Then, fundamental open problems and potential research directions pertaining to wireless communications and networking with UAVs are introduced. To cope with the open research problems, various analytical frameworks and mathematical tools such as optimization theory, machine learning, stochastic geometry, transport theory, and game theory are described. The use of such tools for addressing unique UAV problems is also presented. In a nutshell, this tutorial provides key guidelines on how to analyze, optimize, and design UAV-based wireless communication systems.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Joint Flight Cruise Control and Data Collection in UAV-aided Internet of Things: An Onboard Deep Reinforcement Learning Approach Employing unmanned aerial vehicles (UAVs) as aerial data collectors in Internet-of-Things (IoT) networks is a promising technology for large-scale environment sensing. A key challenge in UAV-aided data collection is that UAV maneuvering gives rise to buffer overflow at the IoT node and unsuccessful transmission due to lossy airborne channels. This article formulates a joint optimization of flight ...

Energy- and Spectral-Efficiency Tradeoff for Distributed Antenna Systems with Proportional Fairness Energy efficiency(EE) has caught more and more attention in future wireless communications due to steadily rising energy costs and environmental concerns. In this paper, we propose an EE scheme with proportional fairness for the downlink multiuser distributed antenna systems (DAS). Our aim is to maximize EE, subject to constraints on overall transmit power of each remote access unit (RAU), bit-error rate (BER), and proportional data rates. We exploit multi-criteria optimization method to systematically investigate the relationship between EE and spectral efficiency (SE). Using the weighted sum method, we first convert the multi-criteria optimization problem, which is extremely complex, into a simpler single objective optimization problem. Then an optimal algorithm is developed to allocate the available power to balance the tradeoff between EE and SE. We also demonstrate the effectiveness of the proposed scheme and illustrate the fundamental tradeoff between energy- and spectral-efficient transmission through computer simulation.

Efficient multi-task allocation and path planning for unmanned surface vehicle in support of ocean operations. Presently, there is an increasing interest in the deployment of unmanned surface vehicles (USVs) to support complex ocean operations. In order to carry out these missions in a more efficient way, an intelligent hybrid multi-task allocation and path planning algorithm is required and has been proposed in this paper. In terms of the multi-task allocation, a novel algorithm based upon a self-organising map (SOM) has been designed and developed. The main contribution is that an adaptive artificial repulsive force field has been constructed and integrated into the SOM to achieve collision avoidance capability. The new algorithm is able to fast and effectively generate a sequence for executing multiple tasks in a cluttered maritime environment involving numerous obstacles. After generating an optimised task execution sequence, a path planning algorithm based upon fast marching square (FMS) is utilised to calculate the trajectories. Because of the introduction of a safety parameter, the FMS is able to adaptively adjust the dimensional influence of an obstacle and accordingly generate the paths to ensure the safety of the USV. The algorithms have been verified and evaluated through a number of computer based simulations and has been proven to work effectively in both simulated and practical maritime environments. (C) 2017 Elsevier B.V. All rights reserved.

Cooperative Internet of UAVs: Distributed Trajectory Design by Multi-Agent Deep Reinforcement Learning Due to the advantages of flexible deployment and extensive coverage, unmanned aerial vehicles (UAVs) have significant potential for sensing applications in the next generation of cellular networks, which will give rise to a cellular Internet of UAVs. In this article, we consider a cellular Internet of UAVs, where the UAVs execute sensing tasks through cooperative sensing and transmission to minimize the age of information (AoI). However, the cooperative sensing and transmission is tightly coupled with the UAVs' trajectories, which makes the trajectory design challenging. To tackle this challenge, we propose a distributed sense-and-send protocol, where the UAVs determine the trajectories by selecting from a discrete set of tasks and a continuous set of locations for sensing and transmission. Based on this protocol, we formulate the trajectory design problem for AoI minimization and propose a compound-action actor-critic (CA2C) algorithm to solve it based on deep reinforcement learning. The CA2C algorithm can learn the optimal policies for actions involving both continuous and discrete variables and is suited for the trajectory design. Our simulation results show that the CA2C algorithm outperforms four baseline algorithms. Also, we show that by dividing the tasks, cooperative UAVs can achieve a lower AoI compared to non-cooperative UAVs.

Disturbance Compensating Model Predictive Control With Application to Ship Heading Control. To address the constraint violation and feasibility issues of model predictive control (MPC) for ship heading control in wave fields, a novel disturbance compensating MPC (DC-MPC) algorithm has been proposed to satisfy the state constraints in the presence of environmental disturbances. The capability of the novel DC-MPC algorithm is first analyzed. Then, the proposed DC-MPC algorithm is applied to solve the ship heading control problem, and its performance is compared with a modified MPC controller, which considers the estimated disturbance in the optimization directly. The simulation results show good performance of the proposed controller in terms of reducing heading error and satisfying yaw velocity and actuator saturation constraints. The DC-MPC algorithm has the potential to be applied to other motion control problems with environmental disturbances, such as flight, automobile, and robotics control.

MagicNet: The Maritime Giant Cellular Network Recently, the development of marine industries has increasingly attracted attention from all over the world. A wide-area and seamless maritime communication network has become a critical supporting approach. In this article, we propose a novel architecture named the maritime giant cellular network (MagicNet) relying on seaborne floating towers deployed in a honeycomb topology. The tower-borne gian...

Hamming Embedding and Weak Geometric Consistency for Large Scale Image Search This paper improves recent methods for large scale image search. State-of-the-art methods build on the bag-of-features image representation. We, first, analyze bag-of-features in the framework of approximate nearest neighbor search. This shows the sub-optimality of such a representation for matching descriptors and leads us to derive a more precise representation based on 1) Hamming embedding (HE) and 2) weak geometric consistency constraints (WGC). HE provides binary signatures that refine the matching based on visual words. WGC filters matching descriptors that are not consistent in terms of angle and scale. HE and WGC are integrated within the inverted file and are efficiently exploited for all images, even in the case of very large datasets. Experiments performed on a dataset of one million of images show a significant improvement due to the binary signature and the weak geometric consistency constraints, as well as their efficiency. Estimation of the full geometric transformation, i.e., a re-ranking step on a short list of images, is complementary to our weak geometric consistency constraints and allows to further improve the accuracy.

Microsoft Coco: Common Objects In Context We present a new dataset with the goal of advancing the state-of-the-art in object recognition by placing the question of object recognition in the context of the broader question of scene understanding. This is achieved by gathering images of complex everyday scenes containing common objects in their natural context. Objects are labeled using per-instance segmentations to aid in precise object localization. Our dataset contains photos of 91 objects types that would be easily recognizable by a 4 year old. With a total of 2.5 million labeled instances in 328k images, the creation of our dataset drew upon extensive crowd worker involvement via novel user interfaces for category detection, instance spotting and instance segmentation. We present a detailed statistical analysis of the dataset in comparison to PASCAL, ImageNet, and SUN. Finally, we provide baseline performance analysis for bounding box and segmentation detection results using a Deformable Parts Model.

The Whale Optimization Algorithm. The Whale Optimization Algorithm inspired by humpback whales is proposed.The WOA algorithm is benchmarked on 29 well-known test functions.The results on the unimodal functions show the superior exploitation of WOA.The exploration ability of WOA is confirmed by the results on multimodal functions.The results on structural design problems confirm the performance of WOA in practice. This paper proposes a novel nature-inspired meta-heuristic optimization algorithm, called Whale Optimization Algorithm (WOA), which mimics the social behavior of humpback whales. The algorithm is inspired by the bubble-net hunting strategy. WOA is tested with 29 mathematical optimization problems and 6 structural design problems. Optimization results prove that the WOA algorithm is very competitive compared to the state-of-art meta-heuristic algorithms as well as conventional methods. The source codes of the WOA algorithm are publicly available at http://www.alimirjalili.com/WOA.html

Collaborative privacy management The landscape of the World Wide Web with all its versatile services heavily relies on the disclosure of private user information. Unfortunately, the growing amount of personal data collected by service providers poses a significant privacy threat for Internet users. Targeting growing privacy concerns of users, privacy-enhancing technologies emerged. One goal of these technologies is the provision of tools that facilitate a more informative decision about personal data disclosures. A famous PET representative is the PRIME project that aims for a holistic privacy-enhancing identity management system. However, approaches like the PRIME privacy architecture require service providers to change their server infrastructure and add specific privacy-enhancing components. In the near future, service providers are not expected to alter internal processes. Addressing the dependency on service providers, this paper introduces a user-centric privacy architecture that enables the provider-independent protection of personal data. A central component of the proposed privacy infrastructure is an online privacy community, which facilitates the open exchange of privacy-related information about service providers. We characterize the benefits and the potentials of our proposed solution and evaluate a prototypical implementation.

Data-Driven Intelligent Transportation Systems: A Survey For the last two decades, intelligent transportation systems (ITS) have emerged as an efficient way of improving the performance of transportation systems, enhancing travel security, and providing more choices to travelers. A significant change in ITS in recent years is that much more data are collected from a variety of sources and can be processed into various forms for different stakeholders. The availability of a large amount of data can potentially lead to a revolution in ITS development, changing an ITS from a conventional technology-driven system into a more powerful multifunctional data-driven intelligent transportation system (D2ITS) : a system that is vision, multisource, and learning algorithm driven to optimize its performance. Furthermore, D2ITS is trending to become a privacy-aware people-centric more intelligent system. In this paper, we provide a survey on the development of D2ITS, discussing the functionality of its key components and some deployment issues associated with D2ITS Future research directions for the development of D2ITS is also presented.

Completely Pinpointing the Missing RFID Tags in a Time-Efficient Way Radio Frequency Identification (RFID) technology has been widely used in inventory management in many scenarios, e.g., warehouses, retail stores, hospitals, etc. This paper investigates a challenging problem of complete identification of missing tags in large-scale RFID systems. Although this problem has attracted extensive attention from academy and industry, the existing work can hardly satisfy the stringent real-time requirements. In this paper, a Slot Filter-based Missing Tag Identification (SFMTI) protocol is proposed to reconcile some expected collision slots into singleton slots and filter out the expected empty slots as well as the unreconcilable collision slots, thereby achieving the improved time-efficiency. The theoretical analysis is conducted to minimize the execution time of the proposed SFMTI. We then propose a cost-effective method to extend SFMTI to the multi-reader scenarios. The extensive simulation experiments and performance results demonstrate that the proposed SFMTI protocol outperforms the most promising Iterative ID-free Protocol (IIP) by reducing nearly 45% of the required execution time, and is just within a factor of 1.18 from the lower bound of the minimum execution time.

Modeling taxi driver anticipatory behavior. As part of a wider behavioral agent-based model that simulates taxi drivers' dynamic passenger-finding behavior under uncertainty, we present a model of strategic behavior of taxi drivers in anticipation of substantial time varying demand at locations such as airports and major train stations. The model assumes that, considering a particular decision horizon, a taxi driver decides to transfer to such a destination based on a reward function. The dynamic uncertainty of demand is captured by a time dependent pick-up probability, which is a cumulative distribution function of waiting time. The model allows for information learning by which taxi drivers update their beliefs from past experiences. A simulation on a real road network, applied to test the model, indicates that the formulated model dynamically improves passenger-finding strategies at the airport. Taxi drivers learn when to transfer to the airport in anticipation of the time-varying demand at the airport to minimize their waiting time.

Hardware Circuits Design and Performance Evaluation of a Soft Lower Limb Exoskeleton Soft lower limb exoskeletons (LLEs) are wearable devices that have good potential in walking rehabilitation and augmentation. While a few studies focused on the structure design and assistance force optimization of the soft LLEs, rarely work has been conducted on the hardware circuits design. The main purpose of this work is to present a new soft LLE for walking efficiency improvement and introduce its hardware circuits design. A soft LLE for hip flexion assistance and a hardware circuits system with scalability were proposed. To assess the efficacy of the soft LLE, the experimental tests that evaluate the sensor data acquisition, force tracking performance, lower limb muscle activity and metabolic cost were conducted. The time error in the peak assistance force was just 1%. The reduction in the normalized root-mean-square EMG of the rectus femoris was 7.1%. The net metabolic cost in exoskeleton on condition was reduced by 7.8% relative to walking with no exoskeleton. The results show that the designed hardware circuits can be applied to the soft LLE and the soft LLE is able to improve walking efficiency of wearers.

The Hive: An Edge-based Middleware Solution for Resource Sharing in the Internet of Things. With today's unprecedented proliferation in smart-devices, the Internet of Things Vision has become more of a reality than ever. With the extreme diversity of applications running on these heterogeneous devices, numerous middle-ware solutions have consequently emerged to address IoT-related challenges. These solutions however, heavily rely on the cloud for better data management, integration, and processing. This might potentially compromise privacy, add latency, and place unbearable traffic load. In this paper, we propose The Hive, an edge-based middleware architecture and protocol, that enables heterogeneous edge devices to dynamically share data and resources for enhanced application performance and privacy. We implement a prototype of the Hive, test it for basic robustness, show its modularity, and evaluate its performance with a real world smart emotion recognition application running on edge devices.

RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments RGB-D cameras (such as the Microsoft Kinect) are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such cameras can be used for building dense 3D maps of indoor environments. Such maps have applications in robot navigation, manipulation, semantic mapping, and telepresence. We present RGB-D Mapping, a full 3D mapping system that utilizes a novel joint optimization algorithm combining visual features and shape-based alignment. Visual and depth information are also combined for view-based loop-closure detection, followed by pose optimization to achieve globally consistent maps. We evaluate RGB-D Mapping on two large indoor environments, and show that it effectively combines the visual and shape information available from RGB-D cameras.

A survey of information-centric networking. The information-centric networking (ICN) concept is a significant common approach of several future Internet research activities. The approach leverages in-network caching, multiparty communication through replication, and interaction models decoupling senders and receivers. The goal is to provide a network infrastructure service that is better suited to today¿s use (in particular. content distrib...

Hierarchical Semantic Hashing: Visual Localization from Buildings on Maps In this paper we present a vision-based method for instant global localization from a given aerial image. The approach mimics how humans localize themselves on maps using spatial layout of semantic elements on the map. Unlike other matching and localization methods that use visual appearance or feature matching, our method relies on robust and consistently detectable semantic elements that are invariant to illumination, temporal variations and occlusions. We use the buildings on the map and on the given aerial query image as our semantic elements. Spatial relations between these elements are efficiently stored and queried under a hierarchical semantic version of the Geometric Hashing algorithm that is inherently rotation and scale invariant. We also present a method to obtain building locations from a given query image using image classification and processing techniques. Overall this approach provides fast and robust localization over large areas. We show our experimental results for localizing satellite image tiles from a 16.5 km sq dense city map with over 7,000 buildings.

An Unsupervised Learning Technique to Optimize Radio Maps for Indoor Localization. A major burden of signal strength-based fingerprinting for indoor positioning is the generation and maintenance of a radio map, also known as a fingerprint database. Model-based radio maps are generated much faster than measurement-based radio maps but are generally not accurate enough. This work proposes a method to automatically construct and optimize a model-based radio map. The method is based on unsupervised learning, where random walks, for which the ground truth locations are unknown, serve as input for the optimization, along with a floor plan and a location tracking algorithm. No measurement campaign or site survey, which are labor-intensive and time-consuming, or inertial sensor measurements, which are often not available and consume additional power, are needed for this approach. Experiments in a large office building, covering over 1100 m(2), resulted in median accuracies of up to 2.07 m, or a relative improvement of 28.6% with only 15 min of unlabeled training data.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

A fast and elitist multiobjective genetic algorithm: NSGA-II Multi-objective evolutionary algorithms (MOEAs) that use non-dominated sorting and sharing have been criticized mainly for: (1) their O(MN3) computational complexity (where M is the number of objectives and N is the population size); (2) their non-elitism approach; and (3) the need to specify a sharing parameter. In this paper, we suggest a non-dominated sorting-based MOEA, called NSGA-II (Non-dominated Sorting Genetic Algorithm II), which alleviates all of the above three difficulties. Specifically, a fast non-dominated sorting approach with O(MN2) computational complexity is presented. Also, a selection operator is presented that creates a mating pool by combining the parent and offspring populations and selecting the best N solutions (with respect to fitness and spread). Simulation results on difficult test problems show that NSGA-II is able, for most problems, to find a much better spread of solutions and better convergence near the true Pareto-optimal front compared to the Pareto-archived evolution strategy and the strength-Pareto evolutionary algorithm - two other elitist MOEAs that pay special attention to creating a diverse Pareto-optimal front. Moreover, we modify the definition of dominance in order to solve constrained multi-objective problems efficiently. Simulation results of the constrained NSGA-II on a number of test problems, including a five-objective, seven-constraint nonlinear problem, are compared with another constrained multi-objective optimizer, and the much better performance of NSGA-II is observed

Gradient-Based Learning Applied to Document Recognition Multilayer neural networks trained with the back-propagation algorithm constitute the best example of a successful gradient based learning technique. Given an appropriate network architecture, gradient-based learning algorithms can be used to synthesize a complex decision surface that can classify high-dimensional patterns, such as handwritten characters, with minimal preprocessing. This paper rev...

Latent dirichlet allocation We describe latent Dirichlet allocation (LDA), a generative probabilistic model for collections of discrete data such as text corpora. LDA is a three-level hierarchical Bayesian model, in which each item of a collection is modeled as a finite mixture over an underlying set of topics. Each topic is, in turn, modeled as an infinite mixture over an underlying set of topic probabilities. In the context of text modeling, the topic probabilities provide an explicit representation of a document. We present efficient approximate inference techniques based on variational methods and an EM algorithm for empirical Bayes parameter estimation. We report results in document modeling, text classification, and collaborative filtering, comparing to a mixture of unigrams model and the probabilistic LSI model.

Neural fitted q iteration – first experiences with a data efficient neural reinforcement learning method This paper introduces NFQ, an algorithm for efficient and effective training of a Q-value function represented by a multi-layer perceptron. Based on the principle of storing and reusing transition experiences, a model-free, neural network based Reinforcement Learning algorithm is proposed. The method is evaluated on three benchmark problems. It is shown empirically, that reasonably few interactions with the plant are needed to generate control policies of high quality.

Empirical Modelling of Genetic Algorithms This paper addresses the problem of reliably setting genetic algorithm parameters for consistent labelling problems. Genetic algorithm parameters are notoriously difficult to determine. This paper proposes a robust empirical framework, based on the analysis of factorial experiments. The use of a graeco-latin square permits an initial study of a wide range of parameter settings. This is followed by fully crossed factorial experiments with narrower ranges, which allow detailed analysis by logistic regression. The empirical models derived can be used to determine optimal algorithm parameters and to shed light on interactions between the parameters and their relative importance. Re-fined models are produced, which are shown to be robust under extrapolation to up to triple the problem size.

Adaptive Consensus Control for a Class of Nonlinear Multiagent Time-Delay Systems Using Neural Networks Because of the complicity of consensus control of nonlinear multiagent systems in state time-delay, most of previous works focused only on linear systems with input time-delay. An adaptive neural network (NN) consensus control method for a class of nonlinear multiagent systems with state time-delay is proposed in this paper. The approximation property of radial basis function neural networks (RBFNNs) is used to neutralize the uncertain nonlinear dynamics in agents. An appropriate Lyapunov-Krasovskii functional, which is obtained from the derivative of an appropriate Lyapunov function, is used to compensate the uncertainties of unknown time delays. It is proved that our proposed approach guarantees the convergence on the basis of Lyapunov stability theory. The simulation results of a nonlinear multiagent time-delay system and a multiple collaborative manipulators system show the effectiveness of the proposed consensus control algorithm.

An efficient scheduling scheme for mobile charger in on-demand wireless rechargeable sensor networks. Existing studies on wireless sensor networks (WSNs) have revealed that the limited battery capacity of sensor nodes (SNs) hinders their perpetual operation. Recent findings in the domain of wireless energy transfer (WET) have attracted a lot of attention of academia and industry to cater the lack of energy in the WSNs. The main idea of WET is to restore the energy of SNs using one or more wireless mobile chargers (MCs), which leads to a new paradigm of wireless rechargeable sensor networks (WRSNs). The determination of an optimal order of charging the SNs (i.e., charging schedule) in an on-demand WRSN is a well-known NP-hard problem. Moreover, care must be taken while designing the charging schedule of an MC as requesting SNs introduce both spatial and temporal constraints. In this paper, we first present a Linear Programming (LP) formulation for the problem of scheduling an MC and then propose an efficient solution based on gravitational search algorithm (GSA). Our method is presented with a novel agent representation scheme and an efficient fitness function. We perform extensive simulations on the proposed scheme to demonstrate its effectiveness over two state-of-the-art algorithms, namely first come first serve (FCFS) and nearest job next with preemption (NJNP). The simulation results reveal that the proposed scheme outperforms both the existing algorithms in terms of charging latency. The virtue of our scheme is also proved by the well-known statistical test, analysis of variance (ANOVA), followed by post hoc analysis.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Modelling clavicular and scapular kinematics: from measurement to simulation. Musculoskeletal models are intended to be used to assist in prevention and treatments of musculoskeletal disorders. To capture important aspects of shoulder dysfunction, realistic simulation of clavicular and scapular movements is crucial. The range of motion of these bones is dependent on thoracic, clavicular and scapular anatomy and therefore different for each individual. Typically, patient or subject measurements will therefore not fit on a model that uses a cadaveric morphology. Up till now, this problem was solved by adjusting measured bone rotations such that they fit on the model, but this leads to adjustments of on average 3.98° and, in some cases, even more than 8°. Two novel methods are presented that decrease this discrepancy between experimental data and simulations. For one method, the model is scaled to fit the subject, leading to a 34 % better fit compared to the existing method. In the other method, the set of possible joint rotations is increased by allowing some variation on motion constraints, resulting in a 42 % better fit. This change in kinematics also affected the kinetics: muscle forces of some important scapular stabilizing muscles, as predicted by the Delft Shoulder and Elbow Model, were altered by maximally 17 %. The effect on the glenohumeral joint contact force was however marginal (1.3 %). The methods presented in this paper might lead to more realistic shoulder simulations and can therefore be considered a step towards (clinical) application, especially for applications that involve scapular imbalance.

Parametrization and Range of Motion of the Ball-and-Socket Joint The ball-and-socket joint model is used to represent articulations with three rotational degrees of free- dom (DOF), such as the human shoulder and the hip. The goal of this paper is to discuss two related prob- lems: the parametrization and the definition of realistic joint boundaries for ball-and-socket joints. Doing this accurately is difficult, yet important for motion generators (such as inverse kinematics and dynamics engines) and for motion manipulators (such as motion retargeting), since the resulting motions should satisfy the anatomic constraints. The difficulty mainly comes from the complex nature of 3D orientations and of human articulations. The underlying question of parametrization must be addressed before realis- tic and meaningful boundaries can be defined over the set of 3D orientations. In this paper, we review and compare several known methods, and advocate the use of the swing-and-twist parametrization, that parti- tions an arbitrary orientation into two meaningful components. The related problem of induced twist is discussed. Finally, we review some joint boundaries representations based on this decomposition, and show an example.

Positional kinematics of humanoid arms We present the positional abilities of a humanoid manipulator based on an improved kinematical model of the human arm. This was synthesized from electro-optical measurements of healthy female and male subjects. The model possesses three joints: inner shoulder joint, outer shoulder joint and elbow joint. The first functions as the human sternoclavicular joint, the second functions as the human glenohumeral joint, and the last replicates the human humeroulnar rotation. There are three links included, the forearm and the upper arm link which are of a constant length, and the shoulder link which is expandable. Mathematical interrelations between the joint coordinates are also taken into consideration. We determined the reachability of a humanoid arm, treated its orienting redundancy in the shoulder complex and the positional redundancy in the shoulder-elbow complexes, and discussed optimum configurations in executing different tasks. The results are important for the design and control of humanoid robots, in medicine and sports.

Design of a Bio-Inspired Wearable Exoskeleton for Applications in Robotics In this paper we explain the methodology we adopted to design the kinematics structure of a multi-contact points haptic interface. We based our concept on the analysis of the human arm anatomy and kinematics with the intend to synthesize a system that will be able to interface with the human limb in a very natural way. We proposed a simplified kinematic model of the human arm using a notation coming from the robotics field. To find out the best kinematics architecture we employed real movement data, measured from a human subject, and integrated them with the kinematic model of the exoskeleton, this allow us to test the system before its construction and to formalize specific requirements. We also implemented and tested a first passive version of the shoulder joint.

A Minimal Set Of Coordinates For Describing Humanoid Shoulder Motion The kinematics of the anatomical shoulder are analysed and modelled as a parallel mechanism similar to a Stewart platform. A new method is proposed to describe the shoulder kinematics with minimal coordinates and solve the indeterminacy. The minimal coordinates are defined from bony landmarks and the scapulothoracic kinematic constraints. Independent from one another, they uniquely characterise the shoulder motion. A humanoid mechanism is then proposed with identical kinematic properties. It is then shown how minimal coordinates can be obtained for this mechanism and how the coordinates simplify both the motion-planning task and trajectory-tracking control. Lastly, the coordinates are also shown to have an application in the field of biomechanics where they can be used to model the scapulohumeral rhythm.

Elbow Musculoskeletal Model for Industrial Exoskeleton with Modulated Impedance Based on Operator's Arm Stiffness.

Response time in man-computer conversational transactions The literature concerning man-computer transactions abounds in controversy about the limits of "system response time" to a user's command or inquiry at a terminal. Two major semantic issues prohibit resolving this controversy. One issue centers around the question of "Response time to what?" The implication is that different human purposes and actions will have different acceptable or useful response times.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

Digital games in the classroom? A contextual approach to teachers' adoption intention of digital games in formal education Interest in using digital games for formal education has steadily increased in the past decades. When it comes to actual use, however, the uptake of games in the classroom remains limited. Using a contextual approach, the possible influence of factors on a school (N=60) and teacher (N=409) level are analyzed. Findings indicate that there is no effect of factors on the school level whereas on a teacher level, a model is tested, explaining 68% of the variance in behavioral intention, in which curriculum-relatedness and previous experience function as crucial determinants of the adoption intention. These findings add to previous research on adoption determinants related to digital games in formal education. Furthermore, they provide insight into the relations between different adoption determinants and their association with behavioral intention.

Are we ready for autonomous driving? The KITTI vision benchmark suite Today, visual recognition systems are still rarely employed in robotics applications. Perhaps one of the main reasons for this is the lack of demanding benchmarks that mimic such scenarios. In this paper, we take advantage of our autonomous driving platform to develop novel challenging benchmarks for the tasks of stereo, optical flow, visual odometry/SLAM and 3D object detection. Our recording platform is equipped with four high resolution video cameras, a Velodyne laser scanner and a state-of-the-art localization system. Our benchmarks comprise 389 stereo and optical flow image pairs, stereo visual odometry sequences of 39.2 km length, and more than 200k 3D object annotations captured in cluttered scenarios (up to 15 cars and 30 pedestrians are visible per image). Results from state-of-the-art algorithms reveal that methods ranking high on established datasets such as Middlebury perform below average when being moved outside the laboratory to the real world. Our goal is to reduce this bias by providing challenging benchmarks with novel difficulties to the computer vision community. Our benchmarks are available online at: www.cvlibs.net/datasets/kitti.

Fast and Fully Automatic Ear Detection Using Cascaded AdaBoost Ear detection from a profile face image is an important step in many applications including biometric recognition. But accurate and rapid detection of the ear for real-time applications is a challenging task, particularly in the presence of occlusions. In this work, a cascaded AdaBoost based ear detection approach is proposed. In an experiment with a test set of 203 profile face images, all the ears were accurately detected by the proposed detector with a very low (5 x 10-6) false positive rate. It is also very fast and relatively robust to the presence of occlusions and degradation of the ear images (e.g. motion blur). The detection process is fully automatic and does not require any manual intervention.

A review on interval type-2 fuzzy logic applications in intelligent control. A review of the applications of interval type-2 fuzzy logic in intelligent control has been considered in this paper. The fundamental focus of the paper is based on the basic reasons for using type-2 fuzzy controllers for different areas of application. Recently, bio-inspired methods have emerged as powerful optimization algorithms for solving complex problems. In the case of designing type-2 fuzzy controllers for particular applications, the use of bio-inspired optimization methods have helped in the complex task of finding the appropriate parameter values and structure of the fuzzy systems. In this review, we consider the application of genetic algorithms, particle swarm optimization and ant colony optimization as three different paradigms that help in the design of optimal type-2 fuzzy controllers. We also mention alternative approaches to designing type-2 fuzzy controllers without optimization techniques.

An efficient scheduling scheme for mobile charger in on-demand wireless rechargeable sensor networks. Existing studies on wireless sensor networks (WSNs) have revealed that the limited battery capacity of sensor nodes (SNs) hinders their perpetual operation. Recent findings in the domain of wireless energy transfer (WET) have attracted a lot of attention of academia and industry to cater the lack of energy in the WSNs. The main idea of WET is to restore the energy of SNs using one or more wireless mobile chargers (MCs), which leads to a new paradigm of wireless rechargeable sensor networks (WRSNs). The determination of an optimal order of charging the SNs (i.e., charging schedule) in an on-demand WRSN is a well-known NP-hard problem. Moreover, care must be taken while designing the charging schedule of an MC as requesting SNs introduce both spatial and temporal constraints. In this paper, we first present a Linear Programming (LP) formulation for the problem of scheduling an MC and then propose an efficient solution based on gravitational search algorithm (GSA). Our method is presented with a novel agent representation scheme and an efficient fitness function. We perform extensive simulations on the proposed scheme to demonstrate its effectiveness over two state-of-the-art algorithms, namely first come first serve (FCFS) and nearest job next with preemption (NJNP). The simulation results reveal that the proposed scheme outperforms both the existing algorithms in terms of charging latency. The virtue of our scheme is also proved by the well-known statistical test, analysis of variance (ANOVA), followed by post hoc analysis.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Genetic algorithm-based community detection in large-scale social networks Communities in social networks are the essential feature which may be considered as a potential parameter in modeling the behavior of the social entities. Detection of communities has attracted a lot of attention in research in social network analysis. It is one of the major challenging problems as it involves high complexity in processing complex web structure. In fact, this problem can be considered as a NP-complete problem in large-scale networks, as this problem is somewhat reducible to the clique problem in graph theory. A number of meta-heuristic algorithms have been proposed to explore the hidden communities. Most of these algorithms have considered the modularity of the network as their objective function. But, the aspect of optimizing the value of modularity is associated with a problem known as resolution limit, where the size of the detected communities depends on the number of edges existing in the network. In this paper, a genetic algorithm-based community detection has been proposed where an efficient single objective function based on similarity matrix has been devised. The similarity index between each pair of nodes has been calculated in a distributed manner over multiple computing nodes. Similarity index proposed in this paper is based on the topological structure of the network. The effectiveness of the proposed approach is examined by comparing the performance with other state-of-the-art community detection algorithms applied over some real-world network datasets.

Multi-stage genetic programming: A new strategy to nonlinear system modeling This paper presents a new multi-stage genetic programming (MSGP) strategy for modeling nonlinear systems. The proposed strategy is based on incorporating the individual effect of predictor variables and the interactions among them to provide more accurate simulations. According to the MSGP strategy, an efficient formulation for a problem comprises different terms. In the first stage of the MSGP-based analysis, the output variable is formulated in terms of an influencing variable. Thereafter, the error between the actual and the predicted value is formulated in terms of a new variable. Finally, the interaction term is derived by formulating the difference between the actual values and the values predicted by the individually developed terms. The capabilities of MSGP are illustrated by applying it to the formulation of different complex engineering problems. The problems analyzed herein include the following: (i) simulation of pH neutralization process, (ii) prediction of surface roughness in end milling, and (iii) classification of soil liquefaction conditions. The validity of the proposed strategy is confirmed by applying the derived models to the parts of the experimental results that were not included in the analyses. Further, the external validation of the models is verified using several statistical criteria recommended by other researchers. The MSGP-based solutions are capable of effectively simulating the nonlinear behavior of the investigated systems. The results of MSGP are found to be more accurate than those of standard GP and artificial neural network-based models.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Hybrid Whale Optimization Algorithm with simulated annealing for feature selection. •Four hybrid feature selection methods for classification task are proposed.•Our hybrid method combines Whale Optimization Algorithm with simulated annealing.•Eighteen UCI datasets were used in the experiments.•Our approaches result a higher accuracy by using less number of features.

Solving the dynamic weapon target assignment problem by an improved artificial bee colony algorithm with heuristic factor initialization. •Put forward an improved artificial bee colony algorithm based on ranking selection and elite guidance.•Put forward 4 rule-based heuristic factors: Wc, Rc, TRc and TRcL.•The heuristic factors are used in population initialization to improve the quality of the initial solutions in DWTA solving.•The heuristic factor initialization method is combined with the improved ABC algorithm to solve the DWTA problem.

A monarch butterfly optimization-based neural network simulator for prediction of siro-spun yarn tenacity Yarn tenacity directly affects the winding and knitting efficiency as well as warp and weft breakages during weaving process and therefore, is considered as the most important parameter to be controlled during yarn spinning process. Yarn tenacity is dependent on fiber properties and process parameters. Exploring the relationship between fiber properties, process parameters and yarn tenacity is very important to optimize the selection of raw materials and improve yarn quality. In this study, an efficient monarch butterfly optimization-based neural network simulator called MBONN was developed to predict the tenacity of siro-spun yarns from some process parameters and fiber properties. To this end, an experimental dataset was obtained with fiber fineness, yarn twist factor, yarn linear density and strand spacing as the input variables and yarn tenacity as the output parameter. In the proposed MBONN, a monarch butterfly optimization algorithm is applied as a global search method to evolve weights of a multilayer perception (MLP) neural network. The prediction accuracy of the MBONN was compared with that of a MLP neural network trained with back propagation algorithm, MLP neural network trained with genetic algorithms and linear regression model. The results indicated that the prediction accuracy of the proposed MBONN is statistically superior to that of other models. The effect of fiber fineness, yarn linear density, twist factor and strand spacing on yarn tenacity was investigated using the proposed MBONN. Additionally, the observed trends in variation of yarn tenacity with fiber and process parameters were discussed with reference to the yarn internal structure. It was established that higher migration parameters result in increasing the siro-spun yarn tenacity. It was found that the yarns with higher migration parameters benefit from a more coherent self-locking structure which severely restricts fiber slippage, thereby increasing the yarn tenacity.

An improved artificial bee colony algorithm for balancing local and global search behaviors in continuous optimization The artificial bee colony, ABC for short, algorithm is population-based iterative optimization algorithm proposed for solving the optimization problems with continuously-structured solution space. Although ABC has been equipped with powerful global search capability, this capability can cause poor intensification on found solutions and slow convergence problem. The occurrence of these issues is originated from the search equations proposed for employed and onlooker bees, which only updates one decision variable at each trial. In order to address these drawbacks of the basic ABC algorithm, we introduce six search equations for the algorithm and three of them are used by employed bees and the rest of equations are used by onlooker bees. Moreover, each onlooker agent can modify three dimensions or decision variables of a food source at each attempt, which represents a possible solution for the optimization problems. The proposed variant of ABC algorithm is applied to solve basic, CEC2005, CEC2014 and CEC2015 benchmark functions. The obtained results are compared with results of the state-of-art variants of the basic ABC algorithm, artificial algae algorithm, particle swarm optimization algorithm and its variants, gravitation search algorithm and its variants and etc. Comparisons are conducted for measurement of the solution quality, robustness and convergence characteristics of the algorithms. The obtained results and comparisons show the experimentally validation of the proposed ABC variant and success in solving the continuous optimization problems dealt with the study.

On the security of public key protocols Recently the use of public key encryption to provide secure network communication has received considerable attention. Such public key systems are usually effective against passive eavesdroppers, who merely tap the lines and try to decipher the message. It has been pointed out, however, that an improperly designed protocol could be vulnerable to an active saboteur, one who may impersonate another user or alter the message being transmitted. Several models are formulated in which the security of protocols can be discussed precisely. Algorithms and characterizations that can be used to determine protocol security in these models are given.

QoE-Driven Edge Caching in Vehicle Networks Based on Deep Reinforcement Learning The Internet of vehicles (IoV) is a large information interaction network that collects information on vehicles, roads and pedestrians. One of the important uses of vehicle networks is to meet the entertainment needs of driving users through communication between vehicles and roadside units (RSUs). Due to the limited storage space of RSUs, determining the content cached in each RSU is a key challenge. With the development of 5G and video editing technology, short video systems have become increasingly popular. Current widely used cache update methods, such as partial file precaching and content popularity- and user interest-based determination, are inefficient for such systems. To solve this problem, this paper proposes a QoE-driven edge caching method for the IoV based on deep reinforcement learning. First, a class-based user interest model is established. Compared with the traditional file popularity- and user interest distribution-based cache update methods, the proposed method is more suitable for systems with a large number of small files. Second, a quality of experience (QoE)-driven RSU cache model is established based on the proposed class-based user interest model. Third, a deep reinforcement learning method is designed to address the QoE-driven RSU cache update issue effectively. The experimental results verify the effectiveness of the proposed algorithm.

Image information and visual quality Measurement of visual quality is of fundamental importance to numerous image and video processing applications. The goal of quality assessment (QA) research is to design algorithms that can automatically assess the quality of images or videos in a perceptually consistent manner. Image QA algorithms generally interpret image quality as fidelity or similarity with a "reference" or "perfect" image in some perceptual space. Such "full-reference" QA methods attempt to achieve consistency in quality prediction by modeling salient physiological and psychovisual features of the human visual system (HVS), or by signal fidelity measures. In this paper, we approach the image QA problem as an information fidelity problem. Specifically, we propose to quantify the loss of image information to the distortion process and explore the relationship between image information and visual quality. QA systems are invariably involved with judging the visual quality of "natural" images and videos that are meant for "human consumption." Researchers have developed sophisticated models to capture the statistics of such natural signals. Using these models, we previously presented an information fidelity criterion for image QA that related image quality with the amount of information shared between a reference and a distorted image. In this paper, we propose an image information measure that quantifies the information that is present in the reference image and how much of this reference information can be extracted from the distorted image. Combining these two quantities, we propose a visual information fidelity measure for image QA. We validate the performance of our algorithm with an extensive subjective study involving 779 images and show that our method outperforms recent state-of-the-art image QA algorithms by a sizeable margin in our simulations. The code and the data from the subjective study are available at the LIVE website.

Stabilization of switched continuous-time systems with all modes unstable via dwell time switching Stabilization of switched systems composed fully of unstable subsystems is one of the most challenging problems in the field of switched systems. In this brief paper, a sufficient condition ensuring the asymptotic stability of switched continuous-time systems with all modes unstable is proposed. The main idea is to exploit the stabilization property of switching behaviors to compensate the state divergence made by unstable modes. Then, by using a discretized Lyapunov function approach, a computable sufficient condition for switched linear systems is proposed in the framework of dwell time; it is shown that the time intervals between two successive switching instants are required to be confined by a pair of upper and lower bounds to guarantee the asymptotic stability. Based on derived results, an algorithm is proposed to compute the stability region of admissible dwell time. A numerical example is proposed to illustrate our approach.

Software-Defined Networking: A Comprehensive Survey The Internet has led to the creation of a digital society, where (almost) everything is connected and is accessible from anywhere. However, despite their widespread adoption, traditional IP networks are complex and very hard to manage. It is both difficult to configure the network according to predefined policies, and to reconfigure it to respond to faults, load, and changes. To make matters even more difficult, current networks are also vertically integrated: the control and data planes are bundled together. Software-defined networking (SDN) is an emerging paradigm that promises to change this state of affairs, by breaking vertical integration, separating the network's control logic from the underlying routers and switches, promoting (logical) centralization of network control, and introducing the ability to program the network. The separation of concerns, introduced between the definition of network policies, their implementation in switching hardware, and the forwarding of traffic, is key to the desired flexibility: by breaking the network control problem into tractable pieces, SDN makes it easier to create and introduce new abstractions in networking, simplifying network management and facilitating network evolution. In this paper, we present a comprehensive survey on SDN. We start by introducing the motivation for SDN, explain its main concepts and how it differs from traditional networking, its roots, and the standardization activities regarding this novel paradigm. Next, we present the key building blocks of an SDN infrastructure using a bottom-up, layered approach. We provide an in-depth analysis of the hardware infrastructure, southbound and northbound application programming interfaces (APIs), network virtualization layers, network operating systems (SDN controllers), network programming languages, and network applications. We also look at cross-layer problems such as debugging and troubleshooting. In an effort to anticipate the future evolution of this - ew paradigm, we discuss the main ongoing research efforts and challenges of SDN. In particular, we address the design of switches and control platforms - with a focus on aspects such as resiliency, scalability, performance, security, and dependability - as well as new opportunities for carrier transport networks and cloud providers. Last but not least, we analyze the position of SDN as a key enabler of a software-defined environment.

An ID-Based Linearly Homomorphic Signature Scheme and Its Application in Blockchain. Identity-based cryptosystems mean that public keys can be directly derived from user identifiers, such as telephone numbers, email addresses, and social insurance number, and so on. So they can simplify key management procedures of certificate-based public key infrastructures and can be used to realize authentication in blockchain. Linearly homomorphic signature schemes allow to perform linear computations on authenticated data. And the correctness of the computation can be publicly verified. Although a series of homomorphic signature schemes have been designed recently, there are few homomorphic signature schemes designed in identity-based cryptography. In this paper, we construct a new ID-based linear homomorphic signature scheme, which avoids the shortcomings of the use of public-key certificates. The scheme is proved secure against existential forgery on adaptively chosen message and ID attack under the random oracle model. The ID-based linearly homomorphic signature schemes can be applied in e-business and cloud computing. Finally, we show how to apply it to realize authentication in blockchain.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Learning The Difference That Makes A Difference With Counterfactually-Augmented Data Despite alarm over the reliance of machine learning systems on so-called spurious patterns, the term lacks coherent meaning in standard statistical frameworks. However, the language of causality offers clarity: spurious associations are due to confounding (e.g., a common cause), but not direct or indirect causal effects. In this paper, we focus on natural language processing, introducing methods and resources for training models less sensitive to spurious patterns. Given documents and their initial labels, we task humans with revising each document so that it (i) accords with a counterfactual target label; (ii) retains internal coherence; and (iii) avoids unnecessary changes. Interestingly, on sentiment analysis and natural language inference tasks, classifiers trained on original data fail on their counterfactually-revised counterparts and vice versa. Classifiers trained on combined datasets perform remarkably well, just shy of those specialized to either domain. While classifiers trained on either original or manipulated data alone are sensitive to spurious features (e.g., mentions of genre), models trained on the combined data are less sensitive to this signal. Both datasets are publicly available.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

Improving NSGA-III algorithms with information feedback models for large-scale many-objective optimization Recently, more and more multi/many-objective algorithms have been proposed. However, most evolutionary algorithms only focus on solving small-scale multi/many-objective optimization problems, and few researchers pay attention to solving large-scale optimization problems. Like NSGA-III, although it performs well in solving many-objective optimization problems, it does not perform well in large-scale optimization problems. To solve this problem, in this paper, we introduce the information feedback models to improve the ability of NSGA-III to solve large-scale optimization problems. In the feedback models, the historical information of individuals in the previous generations is used in the update process of the current generation. According to the different ways of selecting individual, information feedback models are divided into two categories: one is to select individuals in a fixed way (called M-F) and the other is to select individuals randomly (called M-R). For each type of model, if the number of individuals selected is different, the information feedback models also have some difference. According to the number and mode of individual selection, there are six models in this paper. These six models are respectively embedded into NSGA-III to generate six improving NSGA-III algorithms (these six algorithms are collectively referred to as IFM-NSGAIII). These six algorithms are compared with the original NSGA-III on 9 benchmark problems to search the best information feedback model and the best IFM-NSGAIII algorithm. Then the two best IFM-NSGAIII algorithms are compared with four state-of-the-art algorithms on 9 test functions. Experiments show that the proposed algorithms are highly competitive on test problems.

Mobile cloud computing: A survey Despite increasing usage of mobile computing, exploiting its full potential is difficult due to its inherent problems such as resource scarcity, frequent disconnections, and mobility. Mobile cloud computing can address these problems by executing mobile applications on resource providers external to the mobile device. In this paper, we provide an extensive survey of mobile cloud computing research, while highlighting the specific concerns in mobile cloud computing. We present a taxonomy based on the key issues in this area, and discuss the different approaches taken to tackle these issues. We conclude the paper with a critical analysis of challenges that have not yet been fully met, and highlight directions for future work.

Harmony search algorithm for solving Sudoku Harmony search (HS) algorithm was applied to solving Sudoku puzzle. The HS is an evolutionary algorithm which mimics musicians' behaviors such as random play, memory-based play, and pitch-adjusted play when they perform improvisation. Sudoku puzzles in this study were formulated as an optimization problem with number-uniqueness penalties. HS could successfully solve the optimization problem after 285 function evaluations, taking 9 seconds. Also, sensitivity analysis of HS parameters was performed to obtain a better idea of algorithm parameter values.

DEC: dynamically evolving clustering and its application to structure identification of evolving fuzzy models. Identification of models from input-output data essentially requires estimation of appropriate cluster centers. In this paper, a new online evolving clustering approach for streaming data is proposed. Unlike other approaches that consider either the data density or distance from existing cluster centers, this approach uses cluster weight and distance before generating new clusters. To capture the dynamics of the data stream, the cluster weight is defined in both data and time space in such a way that it decays exponentially with time. It also applies concepts from computational geometry to determine the neighborhood information while forming clusters. A distinction is made between core and noncore clusters to effectively identify the real outliers. The approach efficiently estimates cluster centers upon which evolving Takagi-Sugeno models are developed. The experimental results with developed models show that the proposed approach attains results at par or better than existing approaches and significantly reduces the computational overhead, which makes it suitable for real-time applications.

An Easily Understandable Grey Wolf Optimizer and Its Application to Fuzzy Controller Tuning. This paper proposes an easily understandable Grey Wolf Optimizer (GWO) applied to the optimal tuning of the parameters of Takagi-Sugeno proportional-integral fuzzy controllers (T-S PI-FCs). GWO is employed for solving optimization problems focused on the minimization of discrete-time objective functions defined as the weighted sum of the absolute value of the control error and of the squared output sensitivity function, and the vector variable consists of the tuning parameters of the T-S PI-FCs. Since the sensitivity functions are introduced with respect to the parametric variations of the process, solving these optimization problems is important as it leads to fuzzy control systems with a reduced process parametric sensitivity obtained by a GWO-based fuzzy controller tuning approach. GWO algorithms applied with this regard are formulated in easily understandable terms for both vector and scalar operations, and discussions on stability, convergence, and parameter settings are offered. The controlled processes referred to in the course of this paper belong to a family of nonlinear servo systems, which are modeled by second order dynamics plus a saturation and dead zone static nonlinearity. Experimental results concerning the angular position control of a laboratory servo system are included for validating the proposed method.

Stability Analysis and Estimation of Domain of Attraction for Positive Polynomial Fuzzy Systems With Input Saturation AbstractIn this paper, the stability and positivity of positive polynomial fuzzy model based (PPFMB) control system are investigated, in which the positive polynomial fuzzy model and positive polynomial fuzzy controller are allowed to have different premise membership functions from each other. These mismatched premise membership functions can increase the flexibility of controller design; however, it will lead to the conservative results when the stability is analyzed based on the Lyapunov stability theory. To relax the positivity/stability conditions, the improved Taylor-series-membership-functions-dependent (ITSMFD) method is introduced by introducing the sample points information of Taylor-series approximate membership functions, local error information and boundary information of substate space of premise variables into the stability/positivity conditions. Meanwhile, the ITSMFD method is extended to the PPFMB control system with input saturation to relax the estimation of domain of attraction. Finally, simulation examples are presented to verify the feasibility of this method.

Fuzzy Logic in Dynamic Parameter Adaptation of Harmony Search Optimization for Benchmark Functions and Fuzzy Controllers. Nowadays the use of fuzzy logic has been increasing in popularity, and this is mainly due to the inference mechanism that allows simulating human reasoning in knowledge-based systems. The main contribution of this work is using the concepts of fuzzy logic in a method for dynamically adapting the main parameters of the harmony search algorithm during execution. Dynamical adaptation of parameters in metaheuristics has been shown to improve performance and accuracy in a wide range of applications. For this reason, we propose and approach for fuzzy adaptation of parameters in harmony search. Two case studies are considered for testing the proposed approach, the optimization of mathematical functions, which are unimodal, multimodal, hybrid, and composite functions and a control problem without noise and when noise is considered. A statistical comparison between the harmony search algorithm and the fuzzy harmony search algorithm is presented to verify the advantages of the proposed approach.

Finite-Time Input-to-State Stability and Applications to Finite-Time Control Design This paper extends the well-known concept, Sontag's input-to-state stability (ISS), to finite-time control problems. In other words, a new concept, finite-time input-to-state stability (FTISS), is proposed and then is applied to both the analysis of finite-time stability and the design of finite-time stabilizing feedback laws of control systems. With finite-time stability, nonsmoothness has to be considered, and serious technical challenges arise in the design of finite-time controllers and the stability analysis of the closed-loop system. It is found that FTISS plays an important role as the conventional ISS in the context of asymptotic stability analysis and smooth feedback stabilization. Moreover, a robust adaptive controller is proposed to handle nonlinear systems with parametric and dynamic uncertainties by virtue of FTISS and related arguments.

Adam: A Method for Stochastic Optimization. We introduce Adam, an algorithm for first-order gradient-based optimization of stochastic objective functions, based on adaptive estimates of lower-order moments. The method is straightforward to implement, is computationally efficient, has little memory requirements, is invariant to diagonal rescaling of the gradients, and is well suited for problems that are large in terms of data and/or parameters. The method is also appropriate for non-stationary objectives and problems with very noisy and/or sparse gradients. The hyper-parameters have intuitive interpretations and typically require little tuning. Some connections to related algorithms, on which Adam was inspired, are discussed. We also analyze the theoretical convergence properties of the algorithm and provide a regret bound on the convergence rate that is comparable to the best known results under the online convex optimization framework. Empirical results demonstrate that Adam works well in practice and compares favorably to other stochastic optimization methods. Finally, we discuss AdaMax, a variant of Adam based on the infinity norm.

Multiple Lyapunov functions and other analysis tools for switched and hybrid systems In this paper, we introduce some analysis tools for switched and hybrid systems. We first present work on stability analysis. We introduce multiple Lyapunov functions as a tool for analyzing Lyapunov stability and use iterated function systems (IFS) theory as a tool for Lagrange stability. We also discuss the case where the switched systems are indexed by an arbitrary compact set. Finally, we extend Bendixson's theorem to the case of Lipschitz continuous vector fields, allowing limit cycle analysis of a class of "continuous switched" systems.

Learning to Predict Driver Route and Destination Intent For many people, driving is a routine activity where people drive to the same destinations using the same routes on a regular basis. Many drivers, for example, will drive to and from work along a small set of routes, at about the same time every day of the working week. Similarly, although a person may shop on different days or at different times, they will often visit the same grocery store(s). In this paper, we present a novel approach to predicting driver intent that exploits the predictable nature of everyday driving. Our approach predicts a driver's intended route and destination through the use of a probabilistic model learned from observation of their driving habits. We show that by using a low-cost GPS sensor and a map database, it is possible to build a hidden Markov model (HMM) of the routes and destinations used by the driver. Furthermore, we show that this model can be used to make accurate predictions of the driver's destination and route through on-line observation of their GPS position during the trip. We present a thorough evaluation of our approach using a corpus of almost a month of real, everyday driving. Our results demonstrate the effectiveness of the approach, achieving approximately 98% accuracy in most cases. Such high performance suggests that the method can be harnessed for improved safety monitoring, route planning taking into account traffic density, and better trip duration prediction

Software-Defined Networking: A Comprehensive Survey The Internet has led to the creation of a digital society, where (almost) everything is connected and is accessible from anywhere. However, despite their widespread adoption, traditional IP networks are complex and very hard to manage. It is both difficult to configure the network according to predefined policies, and to reconfigure it to respond to faults, load, and changes. To make matters even more difficult, current networks are also vertically integrated: the control and data planes are bundled together. Software-defined networking (SDN) is an emerging paradigm that promises to change this state of affairs, by breaking vertical integration, separating the network's control logic from the underlying routers and switches, promoting (logical) centralization of network control, and introducing the ability to program the network. The separation of concerns, introduced between the definition of network policies, their implementation in switching hardware, and the forwarding of traffic, is key to the desired flexibility: by breaking the network control problem into tractable pieces, SDN makes it easier to create and introduce new abstractions in networking, simplifying network management and facilitating network evolution. In this paper, we present a comprehensive survey on SDN. We start by introducing the motivation for SDN, explain its main concepts and how it differs from traditional networking, its roots, and the standardization activities regarding this novel paradigm. Next, we present the key building blocks of an SDN infrastructure using a bottom-up, layered approach. We provide an in-depth analysis of the hardware infrastructure, southbound and northbound application programming interfaces (APIs), network virtualization layers, network operating systems (SDN controllers), network programming languages, and network applications. We also look at cross-layer problems such as debugging and troubleshooting. In an effort to anticipate the future evolution of this - ew paradigm, we discuss the main ongoing research efforts and challenges of SDN. In particular, we address the design of switches and control platforms - with a focus on aspects such as resiliency, scalability, performance, security, and dependability - as well as new opportunities for carrier transport networks and cloud providers. Last but not least, we analyze the position of SDN as a key enabler of a software-defined environment.

Deep Learning in Mobile and Wireless Networking: A Survey. The rapid uptake of mobile devices and the rising popularity of mobile applications and services pose unprecedented demands on mobile and wireless networking infrastructure. Upcoming 5G systems are evolving to support exploding mobile traffic volumes, real-time extraction of fine-grained analytics, and agile management of network resources, so as to maximize user experience. Fulfilling these tasks is challenging, as mobile environments are increasingly complex, heterogeneous, and evolving. One potential solution is to resort to advanced machine learning techniques, in order to help manage the rise in data volumes and algorithm-driven applications. The recent success of deep learning underpins new and powerful tools that tackle problems in this space. In this paper we bridge the gap between deep learning and mobile and wireless networking research, by presenting a comprehensive survey of the crossovers between the two areas. We first briefly introduce essential background and state-of-the-art in deep learning techniques with potential applications to networking. We then discuss several techniques and platforms that facilitate the efficient deployment of deep learning onto mobile systems. Subsequently, we provide an encyclopedic review of mobile and wireless networking research based on deep learning, which we categorize by different domains. Drawing from our experience, we discuss how to tailor deep learning to mobile environments. We complete this survey by pinpointing current challenges and open future directions for research.

Attitudes Towards Social Robots In Education: Enthusiast, Practical, Troubled, Sceptic, And Mindfully Positive While social robots bring new opportunities for education, they also come with moral challenges. Therefore, there is a need for moral guidelines for the responsible implementation of these robots. When developing such guidelines, it is important to include different stakeholder perspectives. Existing (qualitative) studies regarding these perspectives however mainly focus on single stakeholders. In this exploratory study, we examine and compare the attitudes of multiple stakeholders on the use of social robots in primary education, using a novel questionnaire that covers various aspects of moral issues mentioned in earlier studies. Furthermore, we also group the stakeholders based on similarities in attitudes and examine which socio-demographic characteristics influence these attitude types. Based on the results, we identify five distinct attitude profiles and show that the probability of belonging to a specific profile is affected by such characteristics as stakeholder type, age, education and income. Our results also indicate that social robots have the potential to be implemented in education in a morally responsible way that takes into account the attitudes of various stakeholders, although there are multiple moral issues that need to be addressed first. Finally, we present seven (practical) implications for a responsible application of social robots in education following from our results. These implications provide valuable insights into how social robots should be implemented.

Deconfounded Video Moment Retrieval with Causal Intervention ABSTRACTWe tackle the task of video moment retrieval (VMR), which aims to localize a specific moment in a video according to a textual query. Existing methods primarily model the matching relationship between query and moment by complex cross-modal interactions. Despite their effectiveness, current models mostly exploit dataset biases while ignoring the video content, thus leading to poor generalizability. We argue that the issue is caused by the hidden confounder in VMR, i.e., temporal location of moments, that spuriously correlates the model input and prediction. How to design robust matching models against the temporal location biases is crucial but, as far as we know, has not been studied yet for VMR. To fill the research gap, we propose a causality-inspired VMR framework that builds structural causal model to capture the true effect of query and video content on the prediction. Specifically, we develop a Deconfounded Cross-modal Matching (DCM) method to remove the confounding effects of moment location. It first disentangles moment representation to infer the core feature of visual content, and then applies causal intervention on the disentangled multimodal input based on backdoor adjustment, which forces the model to fairly incorporate each possible location of the target into consideration. Extensive experiments clearly show that our approach can achieve significant improvement over the state-of-the-art methods in terms of both accuracy and generalization.

Weakly-Supervised Video Object Grounding by Exploring Spatio-Temporal Contexts Grounding objects in visual context from natural language queries is a crucial yet challenging vision-and-language task, which has gained increasing attention in recent years. Existing work has primarily investigated this task in the context of still images. Despite their effectiveness, these methods cannot be directly migrated into the video context, mainly due to 1) the complex spatio-temporal structure of videos and 2) the scarcity of fine-grained annotations of videos. To effectively ground objects in videos is profoundly more challenging and less explored. To fill the research gap, this paper presents a weakly-supervised framework for linking objects mentioned in a sentence with the corresponding regions in videos. It mainly considers two types of video characteristics: 1) objects are dynamically distributed across multiple frames and have diverse temporal durations, and 2) object regions in videos are spatially correlated with each other. Specifically, we propose a weakly-supervised video object grounding approach which mainly consists of three modules: 1) a temporal localization module to model the latent relation between queried objects and frames with a temporal attention network, 2) a spatial interaction module to capture feature correlation among object regions for learning context-aware region representation, and 3) a hierarchical video multiple instance learning algorithm to estimate the sentence-segment grounding score for discriminative training. Extensive experiments demonstrate that our method can achieve consistent improvement over the state-of-the-arts.

Annotating Objects and Relations in User-Generated Videos. Understanding the objects and relations between them is indispensable to fine-grained video content analysis, which is widely studied in recent research works in multimedia and computer vision. However, existing works are limited to evaluating with either small datasets or indirect metrics, such as the performance over images. The underlying reason is that the construction of a large-scale video dataset with dense annotation is tricky and costly. In this paper, we address several main issues in annotating objects and relations in user-generated videos, and propose an annotation pipeline that can be executed at a modest cost. As a result, we present a new dataset, named VidOR, consisting of 10k videos (84 hours) together with dense annotations that localize 80 categories of objects and 50 categories of predicates in each video. We have made the training and validation set public and extendable for more tasks to facilitate future research on video object and relation recognition.

Movie2Comics: Towards a Lively Video Content Presentation a type of artwork, comics is prevalent and popular around the world. However, despite the availability of assistive software and tools, the creation of comics is still a labor-intensive and time-consuming process. This paper proposes a scheme that is able to automatically turn a movie clip to comics. Two principles are followed in the scheme: 1) optimizing the information preservation of the movie; and 2) generating outputs following the rules and the styles of comics. The scheme mainly contains three components: script-face mapping, descriptive picture extraction, and cartoonization. The script-face mapping utilizes face tracking and recognition techniques to accomplish the mapping between characters' faces and their scripts. The descriptive picture extraction then generates a sequence of frames for presentation. Finally, the cartoonization is accomplished via three steps: panel scaling, stylization, and comics layout design. Experiments are conducted on a set of movie clips and the results have demonstrated the usefulness and the effectiveness of the scheme.

Semantic Understanding of Scenes through the ADE20K Dataset. Semantic understanding of visual scenes is one of the holy grails of computer vision. Despite efforts of the community in data collection, there are still few image datasets covering a wide range of scenes and object categories with pixel-wise annotations for scene understanding. In this work, we present a densely annotated dataset ADE20K, which spans diverse annotations of scenes, objects, parts of objects, and in some cases even parts of parts. Totally there are 25k images of the complex everyday scenes containing a variety of objects in their natural spatial context. On average there are 19.5 instances and 10.5 object classes per image. Based on ADE20K, we construct benchmarks for scene parsing and instance segmentation. We provide baseline performances on both of the benchmarks and re-implement state-of-the-art models for open source. We further evaluate the effect of synchronized batch normalization and find that a reasonably large batch size is crucial for the semantic segmentation performance. We show that the networks trained on ADE20K are able to segment a wide variety of scenes and objects.

Cycle-Consistent Diverse Image Synthesis from Natural Language Text-to-image translation has become an attractive yet challenging task in computer vision. Previous approaches tend to generate similar, or even monotonous, images for distinctive texts and overlook the characteristics of specific sentences. In this paper, we aim to generate images from the given texts by preserving diverse appearances and modes of the objects or instances contained. To achieve that, a novel learning model named SuperGAN is proposed, which consists of two major components: an image synthesis network and a captioning model in a Cycle-GAN framework. SuperGAN adopts the cycle-consistent adversarial training strategy to learn an image generator where the feature distribution of the generated images complies with the distribution of the generic images. Meanwhile, a cycle-consistency loss is applied to constrain that the caption of the generated images is closed to the original texts. Extensive experiments on the benchmark dataset Oxford-flowers-102 demonstrate the validity and effectiveness of our proposed method. In addition, a new evaluation metric is proposed to measure the diversity of synthetic results.

Ciagan: Conditional Identity Anonymization Generative Adversarial Networks The unprecedented increase in the usage of computer vision technology in society goes hand in hand with an increased concern in data privacy. In many real-world scenarios like people tracking or action recognition, it is important to be able to process the data while taking careful consideration in protecting people's identity. We propose and develop CIAGAN, a model for image and video anonymization based on conditional generative adversarial networks. Our model is able to remove the identifying characteristics of faces and bodies while producing high-quality images and videos that can be used for any computer vision task, such as detection or tracking. Unlike previous methods, we have MI control over the de-identification (anonymization) procedure, ensuring both anonymization as well as diversity. We compare our method to several baselines and achieve state-of-the-art results. To facilitate further research, we make available the code and the mod els at https://github.com/dvl-tum/ciagan.

DiverGAN: An Efficient and Effective Single-Stage Framework for Diverse Text-to-Image Generation In this paper, we concentrate on the text-to-image synthesis task that aims at automatically producing perceptually realistic pictures from text descriptions. Recently, several single-stage methods have been proposed to deal with the problems of a more complicated multi-stage modular architecture. However, they often suffer from the lack-of-diversity issue, yielding similar outputs given a single textual sequence. To this end, we present an efficient and effective single-stage framework (DiverGAN) to generate diverse, plausible and semantically consistent images according to a natural-language description. DiverGAN adopts two novel word-level attention modules, i.e., a channel-attention module (CAM) and a pixel-attention module (PAM), which model the importance of each word in the given sentence while allowing the network to assign larger weights to the significant channels and pixels semantically aligning with the salient words. After that, Conditional Adaptive Instance-Layer Normalization (CAdaILN) is introduced to enable the linguistic cues from the sentence embedding to flexibly manipulate the amount of change in shape and texture, further improving visual-semantic representation and helping stabilize the training. Also, a dual-residual structure is developed to preserve more original visual features while allowing for deeper networks, resulting in faster convergence speed and more vivid details. Furthermore, we propose to plug a fully-connected layer into the pipeline to address the lack-of-diversity problem, since we observe that a dense layer will remarkably enhance the generative capability of the network, balancing the trade-off between a low-dimensional random latent code contributing to variants and modulation modules that use high-dimensional and textual contexts to strength feature maps. Inserting a linear layer after the second residual block achieves the best variety and quality. Both qualitative and quantitative results on benchmark data sets demonstrate the superiority of our DiverGAN for realizing diversity, without harming quality and semantic consistency.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

Mean Shift, Mode Seeking, and Clustering Mean shift, a simple iterative procedure that shifts each data point to the average of data points in its neighborhood, is generalized and analyzed in this paper. This generalization makes some k-means like clustering algorithms its special cases. It is shown that mean shift is a mode-seeking process on a surface constructed with a 驴shadow驴 kernel. For Gaussian kernels, mean shift is a gradient mapping. Convergence is studied for mean shift iterations. Cluster analysis is treated as a deterministic problem of finding a fixed point of mean shift that characterizes the data. Applications in clustering and Hough transform are demonstrated. Mean shift is also considered as an evolutionary strategy that performs multistart global optimization.

Student Models that Invite the Learner In: The SMILI:() Open Learner Modelling Framework In recent years, the learner models of some adaptive learning environments have been opened to the learners they represent. However, as yet there is no standard way of describing and analysing these 'open learner models'. This is, in part, due to the variety of issues that can be important or relevant in any particular learner model. The lack of a framework to discuss open learner models poses several difficulties: there is no systematic way to analyse and describe the open learner models of any one system; there is no systematic way to compare the features of open learner models in different systems; and the designers of each new adaptive learning system must repeatedly tread the same path of studying the many diverse uses and approaches of open learner modelling so that they might determine how to make use of open learner modelling in their system. We believe this is a serious barrier to the effective use of open learner models. This paper presents such a framework, and gives examples of its use to describe and compare adaptive educational systems.

Image Feature Extraction in Encrypted Domain With Privacy-Preserving SIFT Privacy has received considerable attention but is still largely ignored in the multimedia community. Consider a cloud computing scenario where the server is resource-abundant, and is capable of finishing the designated tasks. It is envisioned that secure media applications with privacy preservation will be treated seriously. In view of the fact that scale-invariant feature transform (SIFT) has been widely adopted in various fields, this paper is the first to target the importance of privacy-preserving SIFT (PPSIFT) and to address the problem of secure SIFT feature extraction and representation in the encrypted domain. As all of the operations in SIFT must be moved to the encrypted domain, we propose a privacy-preserving realization of the SIFT method based on homomorphic encryption. We show through the security analysis based on the discrete logarithm problem and RSA that PPSIFT is secure against ciphertext only attack and known plaintext attack. Experimental results obtained from different case studies demonstrate that the proposed homomorphic encryption-based privacy-preserving SIFT performs comparably to the original SIFT and that our method is useful in SIFT-based privacy-preserving applications.

Fast Map Matching, An Algorithm Integrating Hidden Markov Model With Precomputation Wide deployment of global positioning system (GPS) sensors has generated a large amount of data with numerous applications in transportation research. Due to the observation error, a map matching (MM) process is commonly performed to infer a path on a road network from a noisy GPS trajectory. The increasing data volume calls for the design of efficient and scalable MM algorithms. This article presents fast map matching (FMM), an algorithm integrating hidden Markov model with precomputation, and provides an open-source implementation. An upper bounded origin-destination table is precomputed to store all pairs of shortest paths within a certain length in the road network. As a benefit, repeated routing queries known as the bottleneck of MM are replaced with hash table search. Additionally, several degenerate cases and a problem of reverse movement are identified and addressed in FMM. Experiments on a large collection of real-world taxi trip trajectories demonstrate that FMM has achieved a considerable single-processor MM speed of 25,000-45,000 points/second varying with the output mode. Investigation on the running time of different steps in FMM reveals that after precomputation is employed, the new bottleneck is located in candidate search, and more specifically, the projection of a GPS point to the polyline of a road edge. Reverse movement in the result is also effectively reduced by applying a penalty.

Intention-detection strategies for upper limb exosuits: model-based myoelectric vs dynamic-based control The cognitive human-robot interaction between an exosuit and its wearer plays a key role in determining both the biomechanical effects of the device on movements and its perceived effectiveness. There is a lack of evidence, however, on the comparative performance of different control methods, implemented on the same device. Here, we compare two different control approaches on the same robotic suit: a model-based myoelectric control (myoprocessor), which estimates the joint torque from the activation of target muscles, and a dynamic-based control that provides support against gravity using an inverse dynamic model. Tested on a cohort of four healthy participants, assistance from the exosuit results in a marked reduction in the effort of muscles working against gravity with both control approaches (peak reduction of 68.6±18.8%, for the dynamic arm model and 62.4±25.1% for the myoprocessor), when compared to an unpowered condition. Neither of the two controllers had an affect on the performance of their users in a joint-angle tracking task (peak errors of 15.4° and 16.4° for the dynamic arm model and myoprocessor, respectively, compared to 13.1o in the unpowered condition). However, our results highlight the remarkable adaptability of the myoprocessor to seamlessly adapt to changing external dynamics.

An AutoEncoder and LSTM-Based Traffic Flow Prediction Method. Smart cities can effectively improve the quality of urban life. Intelligent Transportation System (ITS) is an important part of smart cities. The accurate and real-time prediction of traffic flow plays an important role in ITSs. To improve the prediction accuracy, we propose a novel traffic flow prediction method, called AutoEncoder Long Short-Term Memory (AE-LSTM) prediction method. In our method, the AutoEncoder is used to obtain the internal relationship of traffic flow by extracting the characteristics of upstream and downstream traffic flow data. Moreover, the Long Short-Term Memory (LSTM) network utilizes the acquired characteristic data and the historical data to predict complex linear traffic flow data. The experimental results show that the AE-LSTM method had higher prediction accuracy. Specifically, the Mean Relative Error (MRE) of the AE-LSTM was reduced by 0.01 compared with the previous prediction methods. In addition, AE-LSTM method also had good stability. For different stations and different dates, the prediction error and fluctuation of the AE-LSTM method was small. Furthermore, the average MRE of AE-LSTM prediction results was 0.06 for six different days.

Estimation of prediction error by using K-fold cross-validation Estimation of prediction accuracy is important when our aim is prediction. The training error is an easy estimate of prediction error, but it has a downward bias. On the other hand, K-fold cross-validation has an upward bias. The upward bias may be negligible in leave-one-out cross-validation, but it sometimes cannot be neglected in 5-fold or 10-fold cross-validation, which are favored from a computational standpoint. Since the training error has a downward bias and K-fold cross-validation has an upward bias, there will be an appropriate estimate in a family that connects the two estimates. In this paper, we investigate two families that connect the training error and K-fold cross-validation.

Traffic Flow Forecasting for Urban Work Zones None of numerous existing traffic flow forecasting models focus on work zones. Work zone events create conditions that are different from both normal operating conditions and incident conditions. In this paper, four models were developed for forecasting traffic flow for planned work zone events. The four models are random forest, regression tree, multilayer feedforward neural network, and nonparametric regression. Both long-term and short-term traffic flow forecasting applications were investigated. Long-term forecast involves forecasting 24 h in advance using historical traffic data, and short-term forecasts involves forecasting 1 h and 45, 30, and 15 min in advance using real-time temporal and spatial traffic data. Models were evaluated using data from work zone events on two types of roadways, a freeway, i.e., I-270, and a signalized arterial, i.e., MO-141, in St. Louis, MO, USA. The results showed that the random forest model yielded the most accurate long-term and short-term work zone traffic flow forecasts. For freeway data, the most influential variables were the latest interval's look-back traffic flows at the upstream, downstream, and current locations. For arterial data, the most influential variables were the traffic flows from the three look-back intervals at the current location only.

Daily long-term traffic flow forecasting based on a deep neural network. •A new deep learning algorithm to predict daily long-term traffic flow data using contextual factors.•Deep neutral network to mine the relationship between traffic flow data and contextual factors.•Advanced batch training can effectively improve convergence of the training process.

A 3D CNN-LSTM-Based Image-to-Image Foreground Segmentation The video-based separation of foreground (FG) and background (BG) has been widely studied due to its vital role in many applications, including intelligent transportation and video surveillance. Most of the existing algorithms are based on traditional computer vision techniques that perform pixel-level processing assuming that FG and BG possess distinct visual characteristics. Recently, state-of-the-art solutions exploit deep learning models targeted originally for image classification. Major drawbacks of such a strategy are the lacking delineation of FG regions due to missing temporal information as they segment the FG based on a single frame object detection strategy. To grapple with this issue, we excogitate a 3D convolutional neural network (3D CNN) with long short-term memory (LSTM) pipelines that harness seminal ideas, viz., fully convolutional networking, 3D transpose convolution, and residual feature flows. Thence, an FG-BG segmenter is implemented in an encoder-decoder fashion and trained on representative FG-BG segments. The model devises a strategy called double encoding and slow decoding, which fuses the learned spatio-temporal cues with appropriate feature maps both in the down-sampling and up-sampling paths for achieving well generalized FG object representation. Finally, from the Sigmoid confidence map generated by the 3D CNN-LSTM model, the FG is identified automatically by using Nobuyuki Otsu’s method and an empirical global threshold. The analysis of experimental results via standard quantitative metrics on 16 benchmark datasets including both indoor and outdoor scenes validates that the proposed 3D CNN-LSTM achieves competitive performance in terms of figure of merit evaluated against prior and state-of-the-art methods. Besides, a failure analysis is conducted on 20 video sequences from the DAVIS 2016 dataset.

Improving Traffic Flow Prediction With Weather Information in Connected Cars: A Deep Learning Approach. Transportation systems might be heavily affected by factors such as accidents and weather. Specifically, inclement weather conditions may have a drastic impact on travel time and traffic flow. This study has two objectives: first, to investigate a correlation between weather parameters and traffic flow and, second, to improve traffic flow prediction by proposing a novel holistic architecture. It i...

Accurate Self-Localization in RFID Tag Information Grids Using FIR Filtering Grid navigation spaces nested with the radio-frequency identification (RFID) tags are promising for industrial and other needs, because each tag can deliver information about a local two-dimensional or three-dimensional surrounding. The approach, however, requires high accuracy in vehicle self-localization. Otherwise, errors may lead to collisions; possibly even fatal. We propose a new extended finite impulse response (EFIR) filtering algorithm and show that it meets this need. The EFIR filter requires an optimal averaging interval, but does not involve the noise statistics which are often not well known to the engineer. It is more accurate than the extended Kalman filter (EKF) under real operation conditions and its iterative algorithm has the Kalman form. Better performance of the proposed EFIR filter is demonstrated based on extensive simulations in a comparison to EKF, which is widely used in RFID tag grids. We also show that errors in noise covariances may provoke divergence in EKF, whereas the EFIR filter remains stable and is thus more robust.

Evolutionary computation: comments on the history and current state Evolutionary computation has started to receive significant attention during the last decade, although the origins can be traced back to the late 1950's. This article surveys the history as well as the current state of this rapidly growing field. We describe the purpose, the general structure, and the working principles of different approaches, including genetic algorithms (GA) (with links to genetic programming (GP) and classifier systems (CS)), evolution strategies (ES), and evolutionary programming (EP) by analysis and comparison of their most important constituents (i.e. representations, variation operators, reproduction, and selection mechanism). Finally, we give a brief overview on the manifold of application domains, although this necessarily must remain incomplete

Supporting social navigation on the World Wide Web This paper discusses a navigation behavior on Internet information services, in particular the World Wide Web, which is characterized by pointing out of information using various communication tools. We call this behavior social navigation as it is based on communication and interaction with other users, be that through email, or any other means of communication. Social navigation phenomena are quite common although most current tools (like Web browsers or email clients) offer very little support for it. We describe why social navigation is useful and how it can be better supported in future systems. We further describe two prototype systems that, although originally not designed explicitly as tools for social navigation, provide features that are typical for social navigation systems. One of these systems, the Juggler system, is a combination of a textual virtual environment and a Web client. The other system is a prototype of a Web- hotlist organizer, called Vortex. We use both systems to describe fundamental principles of social navigation systems.

Proofs of Storage from Homomorphic Identification Protocols Proofs of storage (PoS) are interactive protocols allowing a client to verify that a server faithfully stores a file. Previous work has shown that proofs of storage can be constructed from any homomorphic linear authenticator (HLA). The latter, roughly speaking, are signature/message authentication schemes where `tags' on multiple messages can be homomorphically combined to yield a `tag' on any linear combination of these messages. We provide a framework for building public-key HLAs from any identification protocol satisfying certain homomorphic properties. We then show how to turn any public-key HLA into a publicly-verifiable PoS with communication complexity independent of the file length and supporting an unbounded number of verifications. We illustrate the use of our transformations by applying them to a variant of an identification protocol by Shoup, thus obtaining the first unbounded-use PoS based on factoring (in the random oracle model).

Well-Solvable Special Cases of the Traveling Salesman Problem: A Survey. The traveling salesman problem (TSP) belongs to the most basic, most important, and most investigated problems in combinatorial optimization. Although it is an ${\cal NP}$-hard problem, many of its special cases can be solved efficiently in polynomial time. We survey these special cases with emphasis on the results that have been obtained during the decade 1985--1995. This survey complements an earlier survey from 1985 compiled by Gilmore, Lawler, and Shmoys [The Traveling Salesman Problem---A Guided Tour of Combinatorial Optimization, Wiley, Chichester, pp. 87--143].

Reinforcement Q-learning for optimal tracking control of linear discrete-time systems with unknown dynamics. In this paper, a novel approach based on the Q-learning algorithm is proposed to solve the infinite-horizon linear quadratic tracker (LQT) for unknown discrete-time systems in a causal manner. It is assumed that the reference trajectory is generated by a linear command generator system. An augmented system composed of the original system and the command generator is constructed and it is shown that the value function for the LQT is quadratic in terms of the state of the augmented system. Using the quadratic structure of the value function, a Bellman equation and an augmented algebraic Riccati equation (ARE) for solving the LQT are derived. In contrast to the standard solution of the LQT, which requires the solution of an ARE and a noncausal difference equation simultaneously, in the proposed method the optimal control input is obtained by only solving an augmented ARE. A Q-learning algorithm is developed to solve online the augmented ARE without any knowledge about the system dynamics or the command generator. Convergence to the optimal solution is shown. A simulation example is used to verify the effectiveness of the proposed control scheme.

An indoor localization solution using Bluetooth RSSI and multiple sensors on a smartphone. In this paper, we propose an indoor positioning system using a Bluetooth receiver, an accelerometer, a magnetic field sensor, and a barometer on a smartphone. The Bluetooth receiver is used to estimate distances from beacons. The accelerometer and magnetic field sensor are used to trace the movement of moving people in the given space. The horizontal location of the person is determined by received signal strength indications (RSSIs) and the traced movement. The barometer is used to measure the vertical position where a person is located. By combining RSSIs, the traced movement, and the vertical position, the proposed system estimates the indoor position of moving people. In experiments, the proposed approach showed excellent performance in localization with an overall error of 4.8%.

Attitudes Towards Social Robots In Education: Enthusiast, Practical, Troubled, Sceptic, And Mindfully Positive While social robots bring new opportunities for education, they also come with moral challenges. Therefore, there is a need for moral guidelines for the responsible implementation of these robots. When developing such guidelines, it is important to include different stakeholder perspectives. Existing (qualitative) studies regarding these perspectives however mainly focus on single stakeholders. In this exploratory study, we examine and compare the attitudes of multiple stakeholders on the use of social robots in primary education, using a novel questionnaire that covers various aspects of moral issues mentioned in earlier studies. Furthermore, we also group the stakeholders based on similarities in attitudes and examine which socio-demographic characteristics influence these attitude types. Based on the results, we identify five distinct attitude profiles and show that the probability of belonging to a specific profile is affected by such characteristics as stakeholder type, age, education and income. Our results also indicate that social robots have the potential to be implemented in education in a morally responsible way that takes into account the attitudes of various stakeholders, although there are multiple moral issues that need to be addressed first. Finally, we present seven (practical) implications for a responsible application of social robots in education following from our results. These implications provide valuable insights into how social robots should be implemented.

Indoor Localization Based on Weighted Surfacing from Crowdsourced Samples. Fingerprinting-based indoor localization suffers from its time-consuming and labor-intensive site survey. As a promising solution, sample crowdsourcing has been recently promoted to exploit casually collected samples for building offline fingerprint database. However, crowdsourced samples may be annotated with erroneous locations, which raises a serious question about whether they are reliable for database construction. In this paper, we propose a cross-domain cluster intersection algorithm to weight each sample reliability. We then select those samples with higher weight to construct radio propagation surfaces by fitting polynomial functions. Furthermore, we employ an entropy-like measure to weight constructed surfaces for quantifying their different subarea consistencies and location discriminations in online positioning. Field measurements and experiments show that the proposed scheme can achieve high localization accuracy by well dealing with the sample annotation error and nonuniform density challenges.

The Sybil Attack Large-scale peer-to-peer systems facesecurity threats from faulty or hostile remotecomputing elements. To resist these threats, manysuch systems employ redundancy. However, if asingle faulty entity can present multiple identities,it can control a substantial fraction of the system,thereby undermining this redundancy. Oneapproach to preventing these &quot;Sybil attacks&quot; is tohave a trusted agency certify identities. Thispaper shows that, without a logically centralizedauthority, Sybil...

BLEU: a method for automatic evaluation of machine translation Human evaluations of machine translation are extensive but expensive. Human evaluations can take months to finish and involve human labor that can not be reused. We propose a method of automatic machine translation evaluation that is quick, inexpensive, and language-independent, that correlates highly with human evaluation, and that has little marginal cost per run. We present this method as an automated understudy to skilled human judges which substitutes for them when there is need for quick or frequent evaluations.

Computational thinking Summary form only given. My vision for the 21st century, Computational Thinking, will be a fundamental skill used by everyone in the world. To reading, writing, and arithmetic, we should add computational thinking to every child's analytical ability. Computational thinking involves solving problems, designing systems, and understanding human behavior by drawing on the concepts fundamental to computer science. Thinking like a computer scientist means more than being able to program a computer. It requires the ability to abstract and thus to think at multiple levels of abstraction. In this talk I will give many examples of computational thinking, argue that it has already influenced other disciplines, and promote the idea that teaching computational thinking can not only inspire future generations to enter the field of computer science but benefit people in all fields.

Fuzzy logic in control systems: fuzzy logic controller. I.

Switching between stabilizing controllers This paper deals with the problem of switching between several linear time-invariant (LTI) controllers—all of them capable of stabilizing a speci4c LTI process—in such a way that the stability of the closed-loop system is guaranteed for any switching sequence. We show that it is possible to 4nd realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how we switch among the controller. The motivation for this problem is the control of complex systems where con8icting requirements make a single LTI controller unsuitable. ? 2002 Published by Elsevier Science Ltd.

Tabu Search - Part I

Bidirectional recurrent neural networks In the first part of this paper, a regular recurrent neural network (RNN) is extended to a bidirectional recurrent neural network (BRNN). The BRNN can be trained without the limitation of using input information just up to a preset future frame. This is accomplished by training it simultaneously in positive and negative time direction. Structure and training procedure of the proposed network are explained. In regression and classification experiments on artificial data, the proposed structure gives better results than other approaches. For real data, classification experiments for phonemes from the TIMIT database show the same tendency. In the second part of this paper, it is shown how the proposed bidirectional structure can be easily modified to allow efficient estimation of the conditional posterior probability of complete symbol sequences without making any explicit assumption about the shape of the distribution. For this part, experiments on real data are reported

An intensive survey of fair non-repudiation protocols With the phenomenal growth of the Internet and open networks in general, security services, such as non-repudiation, become crucial to many applications. Non-repudiation services must ensure that when Alice sends some information to Bob over a network, neither Alice nor Bob can deny having participated in a part or the whole of this communication. Therefore a fair non-repudiation protocol has to generate non-repudiation of origin evidences intended to Bob, and non-repudiation of receipt evidences destined to Alice. In this paper, we clearly define the properties a fair non-repudiation protocol must respect, and give a survey of the most important non-repudiation protocols without and with trusted third party (TTP). For the later ones we discuss the evolution of the TTP's involvement and, between others, describe the most recent protocol using a transparent TTP. We also discuss some ad-hoc problems related to the management of non-repudiation evidences.

Dynamic movement and positioning of embodied agents in multiparty conversations For embodied agents to engage in realistic multiparty conversation, they must stand in appropriate places with respect to other agents and the environment. When these factors change, such as an agent joining the conversation, the agents must dynamically move to a new location and/or orientation to accommodate. This paper presents an algorithm for simulating movement of agents based on observed human behavior using techniques developed for pedestrian movement in crowd simulations. We extend a previous group conversation simulation to include an agent motion algorithm. We examine several test cases and show how the simulation generates results that mirror real-life conversation settings.

An improved genetic algorithm with conditional genetic operators and its application to set-covering problem The genetic algorithm (GA) is a popular, biologically inspired optimization method. However, in the GA there is no rule of thumb to design the GA operators and select GA parameters. Instead, trial-and-error has to be applied. In this paper we present an improved genetic algorithm in which crossover and mutation are performed conditionally instead of probability. Because there are no crossover rate and mutation rate to be selected, the proposed improved GA can be more easily applied to a problem than the conventional genetic algorithms. The proposed improved genetic algorithm is applied to solve the set-covering problem. Experimental studies show that the improved GA produces better results over the conventional one and other methods.

Lane-level traffic estimations using microscopic traffic variables This paper proposes a novel inference method to estimate lane-level traffic flow, time occupancy and vehicle inter-arrival time on road segments where local information could not be measured and assessed directly. The main contributions of the proposed method are 1) the ability to perform lane-level estimations of traffic flow, time occupancy and vehicle inter-arrival time and 2) the ability to adapt to different traffic regimes by assessing only microscopic traffic variables. We propose a modified Kriging estimation model which explicitly takes into account both spatial and temporal variability. Performance evaluations are conducted using real-world data under different traffic regimes and it is shown that the proposed method outperforms a Kalman filter-based approach.

Convolutional Neural Network-Based Classification of Driver's Emotion during Aggressive and Smooth Driving Using Multi-Modal Camera Sensors. Because aggressive driving often causes large-scale loss of life and property, techniques for advance detection of adverse driver emotional states have become important for the prevention of aggressive driving behaviors. Previous studies have primarily focused on systems for detecting aggressive driver emotion via smart-phone accelerometers and gyro-sensors, or they focused on methods of detecting physiological signals using electroencephalography (EEG) or electrocardiogram (ECG) sensors. Because EEG and ECG sensors cause discomfort to drivers and can be detached from the driver's body, it becomes difficult to focus on bio-signals to determine their emotional state. Gyro-sensors and accelerometers depend on the performance of GPS receivers and cannot be used in areas where GPS signals are blocked. Moreover, if driving on a mountain road with many quick turns, a driver's emotional state can easily be misrecognized as that of an aggressive driver. To resolve these problems, we propose a convolutional neural network (CNN)-based method of detecting emotion to identify aggressive driving using input images of the driver's face, obtained using near-infrared (NIR) light and thermal camera sensors. In this research, we conducted an experiment using our own database, which provides a high classification accuracy for detecting driver emotion leading to either aggressive or smooth (i.e., relaxed) driving. Our proposed method demonstrates better performance than existing methods.

Robot tutor and pupils’ educational ability: Teaching the times tables Research shows promising results of educational robots in language and STEM tasks. In language, more research is available, occasionally in view of individual differences in pupils’ educational ability levels, and learning seems to improve with more expressive robot behaviors. In STEM, variations in robots’ behaviors have been examined with inconclusive results and never while systematically investigating how differences in educational abilities match with different robot behaviors. We applied an autonomously tutoring robot (without tablet, partly WOz) in a 2 × 2 experiment of social vs. neutral behavior in above-average vs. below-average schoolchildren (N = 86; age 8–10 years) while rehearsing the multiplication tables on a one-to-one basis. The standard school test showed that on average, pupils significantly improved their performance even after 3 occasions of 5-min exercises. Beyond-average pupils profited most from a robot tutor, whereas those below average in multiplication benefited more from a robot that showed neutral rather than more social behavior.

A Survey and Future Directions on Clustering: From WSNs to IoT and Modern Networking Paradigms Many Internet of Things (IoT) networks are created as an overlay over traditional ad-hoc networks such as Zigbee. Moreover, IoT networks can resemble ad-hoc networks over networks that support device-to-device (D2D) communication, e.g., D2D-enabled cellular networks and WiFi-Direct. In these ad-hoc types of IoT networks, efficient topology management is a crucial requirement, and in particular in ...

Reliable and Fast Hand-Offs in Low-Power Wireless Networks Hand-off (or hand-over), the process where mobile nodes select the best access point available to transfer data, has been well studied in wireless networks. The performance of a hand-off process depends on the specific characteristics of the wireless links. In the case of low-power wireless networks, hand-off decisions must be carefully taken by considering the unique properties of inexpensive low-power radios. This paper addresses the design, implementation and evaluation of smart-HOP, a hand-off mechanism tailored for low-power wireless networks. This work has three main contributions. First, it formulates the hard hand-off process for low-power networks (such as typical wireless sensor networks - WSNs) with a probabilistic model, to investigate the impact of the most relevant channel parameters through an analytical approach. Second, it confirms the probabilistic model through simulation and further elaborates on the impact of several hand-off parameters. Third, it fine-tunes the most relevant hand-off parameters via an extended set of experiments, in a realistic experimental scenario. The evaluation shows that smart-HOP performs well in the transitional region while achieving more than 98 percent relative delivery ratio and hand-off delays in the order of a few tens of a milliseconds.