Abstract

Long standing challenges in adaptive bipedal walking control (i.e. control taking care of unknown robot parameters) were to unify the control design instead of designing multiple controllers for different walking phases as well as to bypass computing constraint forces, since it often leads to complex designs. A few attempts to design a single controller for all walking phases ignored or oversimplified the constraint forces. However, these forces are state-dependent and may lead to conservative performance or instability if not countered properly. This work proposes an innovative adaptive control method, based on artificial time delay control, which covers the entire bipedal walking phase and provides robustness against state-dependent unmodelled dynamics such as constraint forces and external impulsive forces arising during walking. Studies using a high fidelity simulator under various forms of disturbances show the effectiveness of the proposed design over the state of the art.

Abstract

A crucial challenge in maintaining formation in an autonomous vehicle platoon rests on designing a suitable control scheme that can tackle external disturbances and uncertain system parameters, especially the friction forces between wheel and ground, which vary with change in road surface, wear in tires and speed of the vehicle. State-of-the-art adaptive controller negotiating such uncertainties can typically handle a priori bounded (or non state-dependent) uncertainties. However, besides the difficulty in accurate modelling and identification of frictional forces, in general, these forces are state-dependent and cannot be a priori bounded (e.g., viscous friction). This paper proposes an adaptive sliding mode controller for nonholonomic wheeled mobile robot based vehicle platoon which can handle unknown complex behaviour of frictional forces without a priori knowledge of its parameters and structures. The effectiveness of the proposed controller is verified in Gazebo simulation in comparison with the state of the art.

Abstract

A major challenge that deep learning systems face is the Catastrophic Forgetting (CF) phenomenon that is observed when finetuning is used to try and adapt a system to a new task or a sequence of datasets with different distributions. CF refers to the significant degradation in performance on the old task/dataset. In this paper, a novel approach is proposed to address CF in computer aided diagnosis (CAD) system design in the medical domain. CAD systems often need to handle a sequence of datasets collected over time from different sites with different imaging parameters/populations. The solution we propose is to move samples from all the datasets closer to a common manifold via a reformer at the front end of a CAD system. The utility of this approach is demonstrated on two common tasks, namely segmentation and classification, using publicly available datasets. Results of extensive experiments show that manifold learning can yield about 74% improvement on an average in the reduction of CF over the baseline fine-tuning process and the state-of-the-art regularization based methods. The results also indicate that a Reformer when used in conjunction with the state-of-the-art regularization methods, has the potential to yield further improvement in CF reduction.

Abstract

Traditionally, video conferencing is a widely adopted solution for telecommunication, but a lack of immersiveness comes inherently due to the 2D nature of facial representation. The integration of Virtual Reality (VR) in a communication/telepresence system through Head Mounted Displays (HMDs) promises to provide users a much better immersive experience. However, HMDs cause hindrance by blocking the facial appearance and expressions of the user. To overcome these issues, we propose a novel attention-enabled encoder-decoder architecture for HMD de-occlusion. We also propose to train our person-specific model using short videos (1-2 minutes) of the user, captured in varying appearances, and demonstrated generalization to unseen poses and appearances of the user. We report superior qualitative and quantitative results over state-of-the-art methods. We also present applications of this approach to hybrid video teleconferencing using existing animation and 3D face reconstruction pipelines.

Abstract

This paper focuses on designing a low-cost and robust IoT-based TDS measurement system for the smart campus. The objective of this low-cost design problem is to find a solution that guarantees precise and uninterrupted output data. The dynamic reading of data, storage capacity, and calibration errors of sensors are the major challenges for IoT-based TDS measurement systems. These challenges are combated in the proposed design using a non-invasive mechanism for data collection, wireless connectivity to the data server, and machine learning calibration of sensor nodes. The TDS data of various water stations located inside the campus is used for the experimental study to develop a regression model for temperature compensation and calibration. The value of TDS sensor voltage variation against temperature is analyzed. The evaluation of the model was performed based on the R 2 and the root mean square error. By using 3 rd degree polynomial regression, we have obtained an R 2 value of 93.96 % and an RMSE of 27.93

Abstract

In Quantum secret sharing we can share both quantum and classical secrets with a quantum resource. In this article we study the problem of revocation of quantum secret shared by the dealer with two shareholders in a three party scenario. In the existing secret sharing protocols there are no means by which the dealer can retrieve back the secret once he/she finds all the share holders to be dishonest. Our protocol makes a significant advancement in solving this problem by designing strategy in bringing back the secret in the worst possible situation when all the shareholders/receivers are dishonest1. In our proposed strategy the dealer also possesses a quantum share of the secret which empowers the dealer to bring back the secret even after sharing is done. However the protocol along with the revocation process also ensures the normal reconstruction at the share holder’s location when they are honest. This advantage comes with the expense of extra one qubit on dealer’s side and consequently we require a four qubit resource to start with for 1-dealer and 2-share holder’s scenario. Here in this article we not only give the description of our protocol but also give an example where our protocol is working with the help of a four qubit entangled state. We also explicitly found out the range of parameter for the input state for which the protocol will be successful.

Abstract

Crowdsourcing is a practice of using collective intelligence of a group in order to achieve a common goal to solve complex problems in an innovative way. It involves obtaining information and opinions from a group of participants who submit their data (i.e., solutions) via the Internet using some applications. The application domains, where crowdsourcing can be used, include, but not limited to, healthcare, environment, public safety, disaster management, and transportation. Despite the unprecedented advantages of crowdsourcing, security and privacy are rising concerns that need to be addressed. Therefore, it is crucially important to provide effective solutions that address the security and privacy issues in crowdsourcing systems. To this end, the salient features of blockchain technology such as immutability, decentralization, transparency and resiliency can play a pivotal role to address the afore-mentioned security challenges. To fill these gaps, in this paper, we propose a new blockchain-based user authentication and key agreement scheme for crowdsourcing (BUAKA-CS) through lightweight cryptographic techniques. The security of the BUAKA-CS is proved through the formal method and also through other mathematical methods that depict the resilience of BUAKA-CS against various types of possible attacks. Moreover, the robustness of BUAKA-CS against possible attacks is proved through widelyrecognized automated software validation tools. We also compare BUAKA-CS with other existing schemes and prove its out performance in terms of security, functionality, computation and communication costs. Finally, we conduct the extensive blockchain-based simulations to measure the impact of BUAKA-CS on the performance of the system.

Abstract

In this paper, we consider a cellular-based Internet of things (IoT) network consisting of IoT devices that can communicate directly with each other in a device-to-device (D2D) fashion as well as send real-time status updates about some underlying physical processes observed by them. We assume that such real-time applications are supported by cellular networks (owing to their ubiquity) where cellular base stations (BSs) collect status updates over time from some subset of the IoT devices in their vicinity. For this setup, we characterize two performance metrics: i) the network throughput which quantifies the performance of D2D communications, and ii) the Age of Information (AoI) which quantifies the performance of the realtime IoT-enabled applications. Concrete analytical results are derived using stochastic geometry by modeling the locations of IoT devices as a bipolar Poisson Point process (PPP) and that of the BSs as another Independent PPP. Our results provide useful design guidelines on the efficient deployment of future IoT networks that will jointly support D2D communications and several cellular network-enabled real-time applications.

Abstract

— This paper considers a large-scale wireless network consisting of source-destination (SD) pairs, where the sources send time-sensitive information, termed status updates, to their corresponding destinations in a time-slotted fashion. We employ age of information (AoI) for quantifying the freshness of the status updates measured at the destination nodes under the preemptive and non-preemptive queueing disciplines with no storage facility. The non-preemptive queue drops the newly arriving updates until the update in service is successfully delivered, whereas the preemptive queue replaces the current update in service with the newly arriving update, if any. As the update delivery rate for a given link is a function of the interference field seen from the receiver, the temporal mean AoI can be treated as a random variable over space. Our goal in this paper is to characterize the spatial distribution of the mean AoI observed by the SD pairs by modeling them as a bipolar Poisson point process (PPP). Towards this objective, we first derive accurate bounds on the moments of success probability while efficiently capturing the interference-induced coupling in the activities of the SD pairs. Using this result, we then derive tight bounds on the moments as well as the spatial distribution of peak AoI (PAoI). Our numerical results verify our analytical findings and demonstrate the impact of various system design parameters on the mean PAoI.

Abstract

In this paper, we consider a large-scale wireless network consisting of source-destination (SD) pairs where the source nodes frequently send status updates about some underlying physical processes (observed by them) to their corresponding destination nodes. For this setup, we employ age of information (AoI) as a performance metric to quantify freshness of the status updates when they reach the destination nodes. While most of the existing works are focused on the analysis of the temporal mean AoI in deterministic network topologies, we aim to characterize the spatial AoI performance disparity that is inherently present in wireless networks. In particular, we treat the temporal mean AoI as a random variable over space as the update delivery rate of a wireless link is a function of the interference field observed by its receiver. Our objective is to characterize the spatial distribution of the temporal mean AoI observed by the SD pairs by modeling them as a Poisson bipolar process. We first derive accurate bounds on the moments of the successful transmission probability of a status update which are then used to derive tight bounds on the moments as well as the spatial distribution of the temporal mean peak AoI. Our results provide useful design guidelines on the appropriate selection of different system parameters to minimize the mean peak AoI.