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In this paper, with the goal of quantifying the qualitative image outputs of a Vision-based Tactile Sensor (VTS), we present the design, fabrication, and characterization of a novel Quantitative Surface Tactile Sensor (called QS-TS). QS-TS directly estimates the sensor's gel layer deformation in real-time enabling safe and autonomous tactile manipulation and servoing of delicate objects using robotic manipulators. The core of the proposed sensor is the utilization of miniature 1.5 mm x 1.5 mm synthetic square markers with inner binary patterns and a broad black border, called ArUco Markers. Each ArUco marker can provide real-time camera pose estimation that, in our design, is used as a quantitative measure for obtaining deformation of the QS-TS gel layer. Moreover, thanks to the use of ArUco markers, we propose a unique fabrication procedure that mitigates various challenges associated with the fabrication of the existing marker-based VTSs and offers an intuitive and less-arduous method for the construction of the VTS. Remarkably, the proposed fabrication facilitates the integration and adherence of markers with the gel layer to robustly and reliably obtain a quantitative measure of deformation in real-time regardless of the orientation of ArUco Markers. The performance and efficacy of the proposed QS-TS in estimating the deformation of the sensor's gel layer were experimentally evaluated and verified. Results demonstrate the phenomenal performance of the QS-TS in estimating the deformation of the gel layer with a relative error of <5%.

The Self-Sovereign Identity (SSI) is a decentralized paradigm enabling full control over the data used to build and prove the identity. In Internet of Things networks with security requirements, the Self-Sovereign Identity can play a key role and bring benefits with respect to centralized identity solutions. The challenge is to make the SSI compatible with resource-constraint IoT networks. In line with this objective, the paper proposes and discusses an alternative (mutual) authentication process for IoT nodes under the same administration domain. The main idea is to combine the Decentralized IDentifier (DID)-based verification of private key ownership with the verification of a proof that the DID belongs to an evolving trusted set. The solution is built around the proof of membership notion. The paper analyzes two membership solutions, a novel solution designed by the Authors based on Merkle trees and a second one based on the adaptation of Boneh, Boyen and Shacham (BBS) group signature scheme. The paper concludes with a performance estimation and a comparative analysis.

In this paper, we revisit the problem of sparse linear regression in the local differential privacy (LDP) model. Existing research in the non-interactive and sequentially local models has focused on obtaining the lower bounds for the case where the underlying parameter is $1$-sparse, and extending such bounds to the more general $k$-sparse case has proven to be challenging. Moreover, it is unclear whether efficient non-interactive LDP (NLDP) algorithms exist. To address these issues, we first consider the problem in the $\epsilon$ non-interactive LDP model and provide a lower bound of $\Omega(\frac{\sqrt{dk\log d}}{\sqrt{n}\epsilon})$ on the $\ell_2$-norm estimation error for sub-Gaussian data, where $n$ is the sample size and $d$ is the dimension of the space. We propose an innovative NLDP algorithm, the very first of its kind for the problem. As a remarkable outcome, this algorithm also yields a novel and highly efficient estimator as a valuable by-product. Our algorithm achieves an upper bound of $\tilde{O}({\frac{d\sqrt{k}}{\sqrt{n}\epsilon}})$ for the estimation error when the data is sub-Gaussian, which can be further improved by a factor of $O(\sqrt{d})$ if the server has additional public but unlabeled data. For the sequentially interactive LDP model, we show a similar lower bound of $\Omega({\frac{\sqrt{dk}}{\sqrt{n}\epsilon}})$. As for the upper bound, we rectify a previous method and show that it is possible to achieve a bound of $\tilde{O}(\frac{k\sqrt{d}}{\sqrt{n}\epsilon})$. Our findings reveal fundamental differences between the non-private case, central DP model, and local DP model in the sparse linear regression problem.

With the growing connectivity demands, Unmanned Aerial Vehicles (UAVs) have emerged as a prominent component in the deployment of Next Generation On-demand Wireless Networks. However, current UAV positioning solutions typically neglect the impact of Rate Adaptation (RA) algorithms or simplify its effect by considering ideal and non-implementable RA algorithms. This work proposes the Rate Adaptation aware RL-based Flying Gateway Positioning (RARL) algorithm, a positioning method for Flying Gateways that applies Deep Q-Learning, accounting for the dynamic data rate imposed by the underlying RA algorithm. The RARL algorithm aims to maximize the throughput of the flying wireless links serving one or more Flying Access Points, which in turn serve ground terminals. The performance evaluation of the RARL algorithm demonstrates that it is capable of taking into account the effect of the underlying RA algorithm and achieve the maximum throughput in all analysed static and mobile scenarios.

In this paper, we design an efficient, multi-stage image segmentation framework that incorporates a weighted difference of anisotropic and isotropic total variation (AITV). The segmentation framework generally consists of two stages: smoothing and thresholding, thus referred to as SaT. In the first stage, a smoothed image is obtained by an AITV-regularized Mumford-Shah (MS) model, which can be solved efficiently by the alternating direction method of multipliers (ADMM) with a closed-form solution of a proximal operator of the $\ell_1 -\alpha \ell_2$ regularizer. Convergence of the ADMM algorithm is analyzed. In the second stage, we threshold the smoothed image by $K$-means clustering to obtain the final segmentation result. Numerical experiments demonstrate that the proposed segmentation framework is versatile for both grayscale and color images, efficient in producing high-quality segmentation results within a few seconds, and robust to input images that are corrupted with noise, blur, or both. We compare the AITV method with its original convex TV and nonconvex TV$^p (0<p<1)$ counterparts, showcasing the qualitative and quantitative advantages of our proposed method.

In this paper, we consider the one-bit precoding problem for the multiuser downlink massive multiple-input multiple-output (MIMO) system with phase shift keying (PSK) modulation. We focus on the celebrated constructive interference (CI)-based problem formulation. We first establish the NP-hardness of the problem (even in the single-user case), which reveals the intrinsic difficulty of globally solving the problem. Then, we propose a novel negative $\ell_1$ penalty model for the considered problem, which penalizes the one-bit constraint into the objective by a negative $\ell_1$-norm term, and show the equivalence between (global and local) solutions of the original problem and the penalty problem when the penalty parameter is sufficiently large. We further transform the penalty model into an equivalent min-max problem and propose an efficient alternating proximal/projection gradient descent ascent (APGDA) algorithm for solving it, which performs a proximal gradient decent over one block of variables and a projection gradient ascent over the other block of variables alternately. The APGDA algorithm enjoys a low per-iteration complexity and is guaranteed to converge to a stationary point of the min-max problem and a local minimizer of the penalty problem. To further reduce the computational cost, we also propose a low-complexity implementation of the APGDA algorithm, where the values of the variables will be fixed in later iterations once they satisfy the one-bit constraint. Numerical results show that, compared to the state-of-the-art CI-based algorithms, both of the proposed algorithms generally achieve better bit-error-rate (BER) performance with lower computational cost.

Motivated by the growing interest in correlation-robust stochastic optimization, we investigate stochastic selection problems beyond independence. Specifically, we consider the instructive case of pairwise-independent priors and matroid constraints. We obtain essentially-optimal bounds for offline contention resolution and prophet inequalities against the almighty online adversary. The impetus for our work comes from the recent work of \cite{pi-uniform-prophet}, who derived a constant-approximation for the single-choice prophet inequality with pairwise-independent priors. For general matroids, our results are tight and largely negative. For both contention resolution and prophet inequalities, our impossibility results hold for the full linear matroid over a finite field. We explicitly construct pairwise-independent distributions which rule out an $\omega\left(\frac{1}{\rank}\right)$-balanced offline CRS and an $\omega\left(\frac{1}{\log \rank}\right)$-competitive prophet inequality. For both results, we employ a generic approach for constructing pairwise-independent random vectors -- one which unifies and generalizes existing pairwise-independence constructions from the literature on universal hash functions and pseudorandomness. Specifically, our approach is based on our observation that random linear maps turn linear independence into stochastic independence. We then examine the class of matroids which satisfy the so-called partition property -- these include most common matroids encountered in optimization. We obtain positive results for both contention resolution and prophet inequalities with pairwise-independent priors on such matroids, approximately matching the corresponding guarantees for fully independent priors.

In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.

In this paper, we proposed to apply meta learning approach for low-resource automatic speech recognition (ASR). We formulated ASR for different languages as different tasks, and meta-learned the initialization parameters from many pretraining languages to achieve fast adaptation on unseen target language, via recently proposed model-agnostic meta learning algorithm (MAML). We evaluated the proposed approach using six languages as pretraining tasks and four languages as target tasks. Preliminary results showed that the proposed method, MetaASR, significantly outperforms the state-of-the-art multitask pretraining approach on all target languages with different combinations of pretraining languages. In addition, since MAML's model-agnostic property, this paper also opens new research direction of applying meta learning to more speech-related applications.

To quickly obtain new labeled data, we can choose crowdsourcing as an alternative way at lower cost in a short time. But as an exchange, crowd annotations from non-experts may be of lower quality than those from experts. In this paper, we propose an approach to performing crowd annotation learning for Chinese Named Entity Recognition (NER) to make full use of the noisy sequence labels from multiple annotators. Inspired by adversarial learning, our approach uses a common Bi-LSTM and a private Bi-LSTM for representing annotator-generic and -specific information. The annotator-generic information is the common knowledge for entities easily mastered by the crowd. Finally, we build our Chinese NE tagger based on the LSTM-CRF model. In our experiments, we create two data sets for Chinese NER tasks from two domains. The experimental results show that our system achieves better scores than strong baseline systems.