Today's IoT devices rely on batteries, which offer stable energy storage but contain harmful chemicals. Having billions of IoT devices powered by batteries is not sustainable for the future. As an alternative, batteryless devices run on long-lived capacitors charged using energy harvesters. The small energy storage capacity of capacitors results in intermittent on-off behaviour. Traditional computing schedulers can not handle this intermittency, and in this paper we propose a first step towards an energy-aware task scheduler for constrained batteryless devices. We present a new energy-aware task scheduling algorithm that is able to optimally schedule application tasks to avoid power failures, and that will allow us to provide insights on the optimal look-ahead time for energy prediction. Our insights can be used as a basis for practical energy-aware scheduling and energy availability prediction algorithms. We formulate the scheduling problem as a Mixed Integer Linear Program. We evaluate its performance improvement when comparing it with state-of-the-art schedulers for batteryless IoT devices. Our results show that making the task scheduler energy aware avoids power failures and allows more tasks to successfully execute. Moreover, we conclude that a relatively short look-ahead energy prediction time of 8 future task executions is enough to achieve optimality.
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The amount of information in satisfiability problem (SAT) is considered. SAT can be polynomial-time solvable when the solving algorithm holds an exponential amount of information. It is also established that SAT Kolmogorov complexity is constant. It is argued that the amount of information in SAT grows at least exponentially with the size of the input instance. The amount of information in SAT is compared with the amount of information in the fixed code algorithms and generated over runtime.
Existing statistical methods for the analysis of micro-randomized trials (MRTs) are designed to estimate causal excursion effects using data from a single MRT. In practice, however, researchers can often find previous MRTs that employ similar interventions. In this paper, we develop data integration methods that capitalize on this additional information, leading to statistical efficiency gains. To further increase efficiency, we demonstrate how to combine these approaches according to a generalization of multivariate precision weighting that allows for correlation between estimates, and we show that the resulting meta-estimator possesses an asymptotic optimality property. We illustrate our methods in simulation and in a case study involving two MRTs in the area of smoking cessation.
Lattices are architected metamaterials whose properties strongly depend on their geometrical design. The analogy between lattices and graphs enables the use of graph neural networks (GNNs) as a faster surrogate model compared to traditional methods such as finite element modelling. In this work, we generate a big dataset of structure-property relationships for strut-based lattices. The dataset is made available to the community which can fuel the development of methods anchored in physical principles for the fitting of fourth-order tensors. In addition, we present a higher-order GNN model trained on this dataset. The key features of the model are (i) SE(3) equivariance, and (ii) consistency with the thermodynamic law of conservation of energy. We compare the model to non-equivariant models based on a number of error metrics and demonstrate its benefits in terms of predictive performance and reduced training requirements. Finally, we demonstrate an example application of the model to an architected material design task. The methods which we developed are applicable to fourth-order tensors beyond elasticity such as piezo-optical tensor etc.
The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing distributed graph optimization algorithms employ a simple sequential partitioning scheme, which may result in unbalanced subgraph dimensions due to the different geographic locations of each robot, and hence imposes extra communication load. Moreover, the performance of current Riemannian optimization algorithms can be further accelerated. In this letter, we propose a novel distributed pose graph optimization algorithm combining multi-level partitioning with an accelerated Riemannian optimization method. Firstly, we employ the multi-level graph partitioning algorithm to preprocess the naive pose graph to formulate a balanced optimization problem. In addition, inspired by the accelerated coordinate descent method, we devise an Improved Riemannian Block Coordinate Descent (IRBCD) algorithm and the critical point obtained is globally optimal. Finally, we evaluate the effects of four common graph partitioning approaches on the correlation of the inter-subgraphs, and discover that the Highest scheme has the best partitioning performance. Also, we implement simulations to quantitatively demonstrate that our proposed algorithm outperforms the state-of-the-art distributed pose graph optimization protocols.
The elastic energy of a bending-resistant interface depends both on its geometry and its material composition. We consider such a heterogeneous interface in the plane, modeled by a curve equipped with an additional density function. The resulting energy captures the complex interplay between curvature and density effects, resembling the Canham-Helfrich functional. We describe the curve by its inclination angle, so that the equilibrium equations reduce to an elliptic system of second order. After a brief variational discussion, we investigate the associated nonlocal $L^2$-gradient flow evolution, a coupled quasilinear parabolic problem. We analyze the (non)preservation of quantities such as convexity, positivity, and symmetry, as well as the asymptotic behavior of the system. The results are illustrated by numerical experiments.
A posteriori error estimates based on residuals can be used for reliable error control of numerical methods. Here, we consider them in the context of ordinary differential equations and Runge-Kutta methods. In particular, we take the approach of Dedner & Giesselmann (2016) and investigate it when used to select the time step size. We focus on step size control stability when combined with explicit Runge-Kutta methods and demonstrate that a standard I controller is unstable while more advanced PI and PID controllers can be designed to be stable. We compare the stability properties of residual-based estimators and classical error estimators based on an embedded Runge-Kutta method both analytically and in numerical experiments.
The direct parametrisation method for invariant manifold is a model-order reduction technique that can be applied to nonlinear systems described by PDEs and discretised e.g. with a finite element procedure in order to derive efficient reduced-order models (ROMs). In nonlinear vibrations, it has already been applied to autonomous and non-autonomous problems to propose ROMs that can compute backbone and frequency-response curves of structures with geometric nonlinearity. While previous developments used a first-order expansion to cope with the non-autonomous term, this assumption is here relaxed by proposing a different treatment. The key idea is to enlarge the dimension of the parametrising coordinates with additional entries related to the forcing. A new algorithm is derived with this starting assumption and, as a key consequence, the resonance relationships appearing through the homological equations involve multiple occurrences of the forcing frequency, showing that with this new development, ROMs for systems exhibiting a superharmonic resonance, can be derived. The method is implemented and validated on academic test cases involving beams and arches. It is numerically demonstrated that the method generates efficient ROMs for problems involving 3:1 and 2:1 superharmonic resonances, as well as converged results for systems where the first-order truncation on the non-autonomous term showed a clear limitation.
The use of Artificial Intelligence (AI) based on data-driven algorithms has become ubiquitous in today's society. Yet, in many cases and especially when stakes are high, humans still make final decisions. The critical question, therefore, is whether AI helps humans make better decisions as compared to a human alone or AI an alone. We introduce a new methodological framework that can be used to answer experimentally this question with no additional assumptions. We measure a decision maker's ability to make correct decisions using standard classification metrics based on the baseline potential outcome. We consider a single-blinded experimental design, in which the provision of AI-generated recommendations is randomized across cases with a human making final decisions. Under this experimental design, we show how to compare the performance of three alternative decision-making systems--human-alone, human-with-AI, and AI-alone. We apply the proposed methodology to the data from our own randomized controlled trial of a pretrial risk assessment instrument. We find that AI recommendations do not improve the classification accuracy of a judge's decision to impose cash bail. Our analysis also shows that AI-alone decisions generally perform worse than human decisions with or without AI assistance. Finally, AI recommendations tend to impose cash bail on non-white arrestees more often than necessary when compared to white arrestees.
In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We can increase scalability by implementing the system as a distributed task-allocation system, sharing tasks across many agents. However, this also increases the resource cost of communications and synchronisation, and is difficult to scale. In this paper we present four algorithms to solve these problems. The combination of these algorithms enable each agent to improve their task allocation strategy through reinforcement learning, while changing how much they explore the system in response to how optimal they believe their current strategy is, given their past experience. We focus on distributed agent systems where the agents' behaviours are constrained by resource usage limits, limiting agents to local rather than system-wide knowledge. We evaluate these algorithms in a simulated environment where agents are given a task composed of multiple subtasks that must be allocated to other agents with differing capabilities, to then carry out those tasks. We also simulate real-life system effects such as networking instability. Our solution is shown to solve the task allocation problem to 6.7% of the theoretical optimal within the system configurations considered. It provides 5x better performance recovery over no-knowledge retention approaches when system connectivity is impacted, and is tested against systems up to 100 agents with less than a 9% impact on the algorithms' performance.
Knowledge graphs capture structured information and relations between a set of entities or items. As such they represent an attractive source of information that could help improve recommender systems. However existing approaches in this domain rely on manual feature engineering and do not allow for end-to-end training. Here we propose knowledge-aware graph neural networks with label smoothness regularization to provide better recommendations. Conceptually, our approach computes user-specific item embeddings by first applying a trainable function that identifies important knowledge graph relationships for a given user. This way we transform the knowledge graph into a user-specific weighted graph and then applies a graph neural network to compute personalized item embeddings. To provide better inductive bias, we use label smoothness, which assumes that adjacent items in the knowledge graph are likely to have similar user relevance labels/scores. Label smoothness provides regularization over edge weights and we prove that it is equivalent to a label propagation scheme on a graph. Finally, we combine knowledge-aware graph neural networks and label smoothness and present the unified model. Experiment results show that our method outperforms strong baselines in four datasets. It also achieves strong performance in the scenario where user-item interactions are sparse.
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