亚洲男人的天堂2018av,欧美草比,久久久久久免费视频精选,国色天香在线看免费,久久久久亚洲av成人片仓井空

Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid manipulators with few degrees of freedom, which limits their capability to compensate for disturbances caused by the vehicle positioning errors. Moreover, UAVs have to minimize external contact forces in order to maintain stability. Biological systems, on the other hand, exploit softness to overcome similar limitations, and leverage compliance to enable aggressive grasping. This paper investigates control and trajectory optimization for a soft aerial manipulator, consisting of a quadrotor and a tendon-actuated soft gripper, in which the advantages of softness can be fully exploited. To the best of our knowledge, this is the first work at the intersection between soft manipulation and UAV control. We present a decoupled approach for the quadrotor and the soft gripper, combining (i) a geometric controller and a minimum-snap trajectory optimization for the quadrotor (rigid) base, with (ii) a quasi-static finite element model and control-space interpolation for the soft gripper. We prove that the geometric controller asymptotically stabilizes the quadrotor velocity and attitude despite the addition of the soft load. Finally, we evaluate the proposed system in a realistic soft dynamics simulator, and show that: (i) the geometric controller is fairly insensitive to the soft payload, (ii) the platform can reliably grasp unknown objects despite inaccurate positioning and initial conditions, and (iii) the decoupled controller is amenable for real-time execution.

Recommender systems have been widely used in different application domains including energy-preservation, e-commerce, healthcare, social media, etc. Such applications require the analysis and mining of massive amounts of various types of user data, including demographics, preferences, social interactions, etc. in order to develop accurate and precise recommender systems. Such datasets often include sensitive information, yet most recommender systems are focusing on the models' accuracy and ignore issues related to security and the users' privacy. Despite the efforts to overcome these problems using different risk reduction techniques, none of them has been completely successful in ensuring cryptographic security and protection of the users' private information. To bridge this gap, the blockchain technology is presented as a promising strategy to promote security and privacy preservation in recommender systems, not only because of its security and privacy salient features, but also due to its resilience, adaptability, fault tolerance and trust characteristics. This paper presents a holistic review of blockchain-based recommender systems covering challenges, open issues and solutions. Accordingly, a well-designed taxonomy is introduced to describe the security and privacy challenges, overview existing frameworks and discuss their applications and benefits when using blockchain before indicating opportunities for future research.

Formalization of mathematics is the process of digitizing mathematical knowledge, which allows for formal proof verification as well as efficient semantic searches. Given the large and ever-increasing gap between the set of formalized and unformalized mathematical knowledge, there is a clear need to encourage more computer scientists and mathematicians to solve and formalize mathematical problems together. With blockchain technology, we are able to decentralize this process, provide time-stamped verification of authorship and encourage collaboration through implementation of incentive mechanisms via smart contracts. Currently, the formalization of mathematics is done through the use of proof assistants, which can be used to verify programs and protocols as well. Furthermore, with the advancement in artificial intelligence (AI), particularly machine learning, we can apply automated AI reasoning tools in these proof assistants and (at least partially) automate the process of synthesizing proofs. In our paper, we demonstrate a blockchain-based system for collaborative formalization of mathematics and programs incorporating both human labour as well as automated AI tools. We explain how Token-Curated Registries (TCR) and smart contracts are used to ensure appropriate documents are recorded and encourage collaboration through implementation of incentive mechanisms respectively. Using an illustrative example, we show how formalized proofs of different sorting algorithms can be produced collaboratively in our proposed blockchain system.

Design and control of autonomous systems that operate in uncertain or adversarial environments can be facilitated by formal modelling and analysis. Probabilistic model checking is a technique to automatically verify, for a given temporal logic specification, that a system model satisfies the specification, as well as to synthesise an optimal strategy for its control. This method has recently been extended to multi-agent systems that exhibit competitive or cooperative behaviour modelled via stochastic games and synthesis of equilibria strategies. In this paper, we provide an overview of probabilistic model checking, focusing on models supported by the PRISM and PRISM-games model checkers. This includes fully observable and partially observable Markov decision processes, as well as turn-based and concurrent stochastic games, together with associated probabilistic temporal logics. We demonstrate the applicability of the framework through illustrative examples from autonomous systems. Finally, we highlight research challenges and suggest directions for future work in this area.

We study the fact checking problem, which aims to identify the veracity of a given claim. Specifically, we focus on the task of Fact Extraction and VERification (FEVER) and its accompanied dataset. The task consists of the subtasks of retrieving the relevant documents (and sentences) from Wikipedia and validating whether the information in the documents supports or refutes a given claim. This task is essential and can be the building block of applications such as fake news detection and medical claim verification. In this paper, we aim at a better understanding of the challenges of the task by presenting the literature in a structured and comprehensive way. We describe the proposed methods by analyzing the technical perspectives of the different approaches and discussing the performance results on the FEVER dataset, which is the most well-studied and formally structured dataset on the fact extraction and verification task. We also conduct the largest experimental study to date on identifying beneficial loss functions for the sentence retrieval component. Our analysis indicates that sampling negative sentences is important for improving the performance and decreasing the computational complexity. Finally, we describe open issues and future challenges, and we motivate future research in the task.

Modern software deployment process produces software that is uniform and hence vulnerable to large-scale code-reuse attacks, such as Jump-Oriented Programming (JOP) attacks. Compiler-based diversification improves the resilience of software systems by automatically generating different assembly code versions of a given program. Existing techniques are efficient but do not have a precise control over the quality of the generated variants. This paper introduces Diversity by Construction (DivCon), a constraint-based approach to software diversification. Unlike previous approaches, DivCon allows users to control and adjust the conflicting goals of diversity and code quality. A key enabler is the use of Large Neighborhood Search (LNS) to generate highly diverse code efficiently. For larger problems, we propose a combination of LNS with a structural decomposition of the problem. To further improve the diversification efficiency of DivCon against JOP attacks, we propose an application-specific distance measure tailored to the characteristics of JOP attacks. We evaluate DivCon with 20 functions from a popular benchmark suite for embedded systems. These experiments show that the combination of LNS and our application-specific distance measure generates binary programs that are highly resilient against JOP attacks. Our results confirm that there is a trade-off between the quality of each assembly code version and the diversity of the entire pool of versions. In particular, the experiments show that DivCon generates near-optimal binary programs that share a small number of gadgets. For constraint programming researchers and practitioners, this paper demonstrates that LNS is a valuable technique for finding diverse solutions. For security researchers and software engineers, DivCon extends the scope of compiler-based diversification to performance-critical and resource-constrained applications.

Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and tools to model and solve problems related to autonomous mobility-on-demand systems. Specifically, we first identify problem settings for their analysis and control, from both operational and planning perspectives. We then review modeling aspects, including transportation networks, transportation demand, congestion, operational constraints, and interactions with existing infrastructure. Thereafter, we provide a systematic analysis of existing solution methods and performance metrics, highlighting trends and trade-offs. Finally, we present various directions for further research.

Sequential recommendation as an emerging topic has attracted increasing attention due to its important practical significance. Models based on deep learning and attention mechanism have achieved good performance in sequential recommendation. Recently, the generative models based on Variational Autoencoder (VAE) have shown the unique advantage in collaborative filtering. In particular, the sequential VAE model as a recurrent version of VAE can effectively capture temporal dependencies among items in user sequence and perform sequential recommendation. However, VAE-based models suffer from a common limitation that the representational ability of the obtained approximate posterior distribution is limited, resulting in lower quality of generated samples. This is especially true for generating sequences. To solve the above problem, in this work, we propose a novel method called Adversarial and Contrastive Variational Autoencoder (ACVAE) for sequential recommendation. Specifically, we first introduce the adversarial training for sequence generation under the Adversarial Variational Bayes (AVB) framework, which enables our model to generate high-quality latent variables. Then, we employ the contrastive loss. The latent variables will be able to learn more personalized and salient characteristics by minimizing the contrastive loss. Besides, when encoding the sequence, we apply a recurrent and convolutional structure to capture global and local relationships in the sequence. Finally, we conduct extensive experiments on four real-world datasets. The experimental results show that our proposed ACVAE model outperforms other state-of-the-art methods.

Driven by the visions of Internet of Things and 5G communications, the edge computing systems integrate computing, storage and network resources at the edge of the network to provide computing infrastructure, enabling developers to quickly develop and deploy edge applications. Nowadays the edge computing systems have received widespread attention in both industry and academia. To explore new research opportunities and assist users in selecting suitable edge computing systems for specific applications, this survey paper provides a comprehensive overview of the existing edge computing systems and introduces representative projects. A comparison of open source tools is presented according to their applicability. Finally, we highlight energy efficiency and deep learning optimization of edge computing systems. Open issues for analyzing and designing an edge computing system are also studied in this survey.

Internet of Things (IoT) infrastructure within the physical library environment is the basis for an integrative, hybrid approach to digital resource recommenders. The IoT infrastructure provides mobile, dynamic wayfinding support for items in the collection, which includes features for location-based recommendations. The evaluation and analysis herein clarified the nature of users' requests for recommendations based on their location, and describes subject areas of the library for which users request recommendations. The results indicated that users of IoT-based recommendations are interested in a broad distribution of subjects, with a short-head distribution from this collection in American and English Literature. A long-tail finding showed a diversity of topics that are recommended to users in the library book stacks with IoT-powered recommendations.