In this study,relevant work on autonomy evaluation(AE)in recent years was comprehensively reviewed and classified from the perspective of task models,and a closed-loop task models based theoretical framework for AE wa...In this study,relevant work on autonomy evaluation(AE)in recent years was comprehensively reviewed and classified from the perspective of task models,and a closed-loop task models based theoretical framework for AE was developed.The main contributions of this study are as follows.1)A taxonomy for AE based on task models was introduced to classify current theories,methods and standards.2)The limitations of the current autonomous evaluation methods were addressed to provide a theoretical framework for quantitative evaluation based on task models,and evaluation metrics for each stage were proposed based on the AE theoretical framework.3)Qualitative analyses of the superiority of the proposed AE framework based on the closed-loop task models were conducted.This study attempts to provide a reference for researchers and engineers in the autonomous unmanned systems field and inspire future development of AE.展开更多
With the development of the Internet of Things and devices continuing to scale,using cloud computing resources to process data in real-time is challenging.Edge computing technologies can improve real-time performance ...With the development of the Internet of Things and devices continuing to scale,using cloud computing resources to process data in real-time is challenging.Edge computing technologies can improve real-time performance in processing data.By introducing the FPGA into the computing node and using the dynamic reconfigurability of the FPGA,the FPGA-based edge node can increase the edge node capability.In this paper,a task-based collaborative method for an FPGA-based edge computing system is proposed in order to meet the collaboration among FPGA-based edge nodes,edge nodes,and the cloud.The modeling of the task includes two parts,task information and task-dependent file.Task information is used to describe the running information and dependency infor-mation required for the task execution.Task-dependent file contains the configuration bit-stream of FPGA in running of the task.By analyzing the task behavior,this paper builds four basic behaviors,analyzes the critical attributes of each behavior,and summa-rizes the task model suitable for FPGA-based edge nodes.Tasks with specific functions can be created by modifying different attributes of model nodes.Finally,the availability of the model and the task-based collaborative method are verified by simulation exper-iments.The experimental results that the task model proposed in this paper can meet cloud-edge collaboration in the FPGA-based edge computing environment.展开更多
It is important to improve the development efficiency of decoupling a coupling task package according to the information relevancy relation between development tasks in the collaborative development process of complic...It is important to improve the development efficiency of decoupling a coupling task package according to the information relevancy relation between development tasks in the collaborative development process of complicated electronic products.In order to define the task coupling model in the development process,the weighted directed graph based on the information relevancy is established,and the correspondence between weighted directed graph model and numerical design structure matrix model of coupling tasks is introduced.The task coupling model is quantized,thereby the interactivity matrix of task package is built.A multi-goal task decoupling method based on improved genetic algorithm is proposed to decouple the task coupling model,which transforms the decoupling of task package into a multi-goal optimization issue.Then the improved genetic algorithm is used to solve the interactivity matrix of coupling tasks.Finally,the effectiveness of this decomposition method is proved by using the example of task package decoupling of collaborative development of a radar’s phased array antenna.展开更多
Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot o...Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.展开更多
A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed...A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed to response to an emergency management, a workflow model is employed to complete the formal modeling of concrete emergency plan firstly. Then the HTN planning system SHOP2 is introduced, the transformation method of domain knowledge from emergency domain to SHOP2 domain is studied. At last, the general procedure to solve the emergency decision prob-lems and to generate executive emergency tasks is set up drawing support from SHOP2 planning system, which will combine the principles (or knowledge) of emergency plan and the real emergency situations.展开更多
In the smart warehousing system adopting cargo-to-person mode, all the items are stored in the movable shelves. There are some warehouse robots transporting the shelves to the working platforms for completing order pi...In the smart warehousing system adopting cargo-to-person mode, all the items are stored in the movable shelves. There are some warehouse robots transporting the shelves to the working platforms for completing order picking or items replenishment tasks. When the number of robots is insufficient, the task allocation problem of robots is an important issue in designing the warehousing system. In this paper, the task allocation problem of insufficient warehouse robots (TAPIR) is investigated. Firstly, the TAPIR problem is decomposed into three sub-problems: task grouping problem, task scheduling problem and task balanced allocation problem. Then three sub-problems are respectively formulated into integer programming models, and the corresponding heuristic algorithms for solving three sub-problems are designed. Finally, the simulation and analysis are done on the real data of online bookstore. Simulation results show that the mathematical models and algorithms of this paper can provide a theoretical basis for solving the TAPIR problem.展开更多
高精度联邦学习模型的训练需要消耗大量的用户本地资源,参与训练的用户能够通过私自出售联合训练的模型获得非法收益.为实现联邦学习模型的产权保护,利用深度学习后门技术不影响主任务精度而仅对少量触发集样本造成误分类的特征,构建一...高精度联邦学习模型的训练需要消耗大量的用户本地资源,参与训练的用户能够通过私自出售联合训练的模型获得非法收益.为实现联邦学习模型的产权保护,利用深度学习后门技术不影响主任务精度而仅对少量触发集样本造成误分类的特征,构建一种基于模型后门的联邦学习水印(federated learning watermark based on backdoor,FLWB)方案,能够允许各参与训练的用户在其本地模型中分别嵌入私有水印,再通过云端的模型聚合操作将私有后门水印映射到全局模型作为联邦学习的全局水印.之后提出分步训练方法增强各私有后门水印在全局模型的表达效果,使得FLWB方案能够在不影响全局模型精度的前提下容纳各参与用户的私有水印.理论分析证明了FLWB方案的安全性,实验验证分步训练方法能够让全局模型在仅造成1%主任务精度损失的情况下有效容纳参与训练用户的私有水印.最后,采用模型压缩攻击和模型微调攻击对FLWB方案进行攻击测试,其结果表明FLWB方案在模型压缩到30%时仍能保留80%以上的水印,在4种不同的微调攻击下能保留90%以上的水印,具有很好的鲁棒性.展开更多
基金supported in part by the Major Project for New Generation of AI,China(No.2018AAA0100400)in part by the Natural Science Foundation of China(No.62072457).
文摘In this study,relevant work on autonomy evaluation(AE)in recent years was comprehensively reviewed and classified from the perspective of task models,and a closed-loop task models based theoretical framework for AE was developed.The main contributions of this study are as follows.1)A taxonomy for AE based on task models was introduced to classify current theories,methods and standards.2)The limitations of the current autonomous evaluation methods were addressed to provide a theoretical framework for quantitative evaluation based on task models,and evaluation metrics for each stage were proposed based on the AE theoretical framework.3)Qualitative analyses of the superiority of the proposed AE framework based on the closed-loop task models were conducted.This study attempts to provide a reference for researchers and engineers in the autonomous unmanned systems field and inspire future development of AE.
基金This work is supported by the National Key R&D Program of China(Grant No.2018YFB1701600).
文摘With the development of the Internet of Things and devices continuing to scale,using cloud computing resources to process data in real-time is challenging.Edge computing technologies can improve real-time performance in processing data.By introducing the FPGA into the computing node and using the dynamic reconfigurability of the FPGA,the FPGA-based edge node can increase the edge node capability.In this paper,a task-based collaborative method for an FPGA-based edge computing system is proposed in order to meet the collaboration among FPGA-based edge nodes,edge nodes,and the cloud.The modeling of the task includes two parts,task information and task-dependent file.Task information is used to describe the running information and dependency infor-mation required for the task execution.Task-dependent file contains the configuration bit-stream of FPGA in running of the task.By analyzing the task behavior,this paper builds four basic behaviors,analyzes the critical attributes of each behavior,and summa-rizes the task model suitable for FPGA-based edge nodes.Tasks with specific functions can be created by modifying different attributes of model nodes.Finally,the availability of the model and the task-based collaborative method are verified by simulation exper-iments.The experimental results that the task model proposed in this paper can meet cloud-edge collaboration in the FPGA-based edge computing environment.
基金supported by the National Defense Basic Research Program of China (No. A1120131044)
文摘It is important to improve the development efficiency of decoupling a coupling task package according to the information relevancy relation between development tasks in the collaborative development process of complicated electronic products.In order to define the task coupling model in the development process,the weighted directed graph based on the information relevancy is established,and the correspondence between weighted directed graph model and numerical design structure matrix model of coupling tasks is introduced.The task coupling model is quantized,thereby the interactivity matrix of task package is built.A multi-goal task decoupling method based on improved genetic algorithm is proposed to decouple the task coupling model,which transforms the decoupling of task package into a multi-goal optimization issue.Then the improved genetic algorithm is used to solve the interactivity matrix of coupling tasks.Finally,the effectiveness of this decomposition method is proved by using the example of task package decoupling of collaborative development of a radar’s phased array antenna.
文摘Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.
文摘A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed to response to an emergency management, a workflow model is employed to complete the formal modeling of concrete emergency plan firstly. Then the HTN planning system SHOP2 is introduced, the transformation method of domain knowledge from emergency domain to SHOP2 domain is studied. At last, the general procedure to solve the emergency decision prob-lems and to generate executive emergency tasks is set up drawing support from SHOP2 planning system, which will combine the principles (or knowledge) of emergency plan and the real emergency situations.
文摘In the smart warehousing system adopting cargo-to-person mode, all the items are stored in the movable shelves. There are some warehouse robots transporting the shelves to the working platforms for completing order picking or items replenishment tasks. When the number of robots is insufficient, the task allocation problem of robots is an important issue in designing the warehousing system. In this paper, the task allocation problem of insufficient warehouse robots (TAPIR) is investigated. Firstly, the TAPIR problem is decomposed into three sub-problems: task grouping problem, task scheduling problem and task balanced allocation problem. Then three sub-problems are respectively formulated into integer programming models, and the corresponding heuristic algorithms for solving three sub-problems are designed. Finally, the simulation and analysis are done on the real data of online bookstore. Simulation results show that the mathematical models and algorithms of this paper can provide a theoretical basis for solving the TAPIR problem.
文摘高精度联邦学习模型的训练需要消耗大量的用户本地资源,参与训练的用户能够通过私自出售联合训练的模型获得非法收益.为实现联邦学习模型的产权保护,利用深度学习后门技术不影响主任务精度而仅对少量触发集样本造成误分类的特征,构建一种基于模型后门的联邦学习水印(federated learning watermark based on backdoor,FLWB)方案,能够允许各参与训练的用户在其本地模型中分别嵌入私有水印,再通过云端的模型聚合操作将私有后门水印映射到全局模型作为联邦学习的全局水印.之后提出分步训练方法增强各私有后门水印在全局模型的表达效果,使得FLWB方案能够在不影响全局模型精度的前提下容纳各参与用户的私有水印.理论分析证明了FLWB方案的安全性,实验验证分步训练方法能够让全局模型在仅造成1%主任务精度损失的情况下有效容纳参与训练用户的私有水印.最后,采用模型压缩攻击和模型微调攻击对FLWB方案进行攻击测试,其结果表明FLWB方案在模型压缩到30%时仍能保留80%以上的水印,在4种不同的微调攻击下能保留90%以上的水印,具有很好的鲁棒性.
