Wi-Fi Direct is a promising technology for the support of device-to-device communications (D2D) on commercial mobile devices. However, the standard as-it-is is not sufficient to support the real deployment of networking solutions entirely based on D2D such as opportunistic networks. In fact, WiFi Direct presents some characteristics that could limit the autonomous creation of D2D connections among users' personal devices. Specifically, the standard explicitly requires the user's authorization to establish a connection between two or more devices, and it provides a limited support for inter-group communication. In some cases, this might lead to the creation of isolated groups of nodes which cannot communicate among each other. In this paper, we propose a novel middleware-layer protocol for the efficient configuration and management of WiFi Direct groups (WiFi Direct Group Manager, WFD-GM) to enable autonomous connections and inter-group communication. This enables opportunistic networks in real conditions (e.g., variable mobility and network size). WFD-GM defines a context function that takes into account heterogeneous parameters for the creation of the best group configuration in a specific time window, including an index of nodes' stability and power levels. We evaluate the protocol performances by simulating three reference scenarios including different mobility models, geographical areas and number of nodes. Simulations are also supported by experimental results related to the evaluation in a real testbed of the involved context parameters. We compare WFD-GM with the state-of-the-art solutions and we show that it performs significantly better than a Baseline approach in scenarios with medium/low mobility, and it is comparable with it in case of high mobility, without introducing additional overhead.
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Multi-Sensor Fusion (MSF) based perception systems have been the foundation in supporting many industrial applications and domains, such as self-driving cars, robotic arms, and unmanned aerial vehicles. Over the past few years, the fast progress in data-driven artificial intelligence (AI) has brought a fast-increasing trend to empower MSF systems by deep learning techniques to further improve performance, especially on intelligent systems and their perception systems. Although quite a few AI-enabled MSF perception systems and techniques have been proposed, up to the present, limited benchmarks that focus on MSF perception are publicly available. Given that many intelligent systems such as self-driving cars are operated in safety-critical contexts where perception systems play an important role, there comes an urgent need for a more in-depth understanding of the performance and reliability of these MSF systems. To bridge this gap, we initiate an early step in this direction and construct a public benchmark of AI-enabled MSF-based perception systems including three commonly adopted tasks (i.e., object detection, object tracking, and depth completion). Based on this, to comprehensively understand MSF systems' robustness and reliability, we design 14 common and realistic corruption patterns to synthesize large-scale corrupted datasets. We further perform a systematic evaluation of these systems through our large-scale evaluation. Our results reveal the vulnerability of the current AI-enabled MSF perception systems, calling for researchers and practitioners to take robustness and reliability into account when designing AI-enabled MSF.
Fast, reliable shape reconstruction is an essential ingredient in many computer vision applications. Neural Radiance Fields demonstrated that photorealistic novel view synthesis is within reach, but was gated by performance requirements for fast reconstruction of real scenes and objects. Several recent approaches have built on alternative shape representations, in particular, 3D Gaussians. We develop extensions to these renderers, such as integrating differentiable optical flow, exporting watertight meshes and rendering per-ray normals. Additionally, we show how two of the recent methods are interoperable with each other. These reconstructions are quick, robust, and easily performed on GPU or CPU. For code and visual examples, see //leonidk.github.io/fmb-plus
MITRE ATT&CK is a comprehensive framework of adversary tactics, techniques and procedures based on real-world observations. It has been used as a foundation for threat modelling in different sectors, such as government, academia and industry. To the best of our knowledge, no previous work has been devoted to the comprehensive collection, study and investigation of the current state of the art leveraging the MITRE ATT&CK framework. We select and inspect more than fifty major research contributions, while conducting a detailed analysis of their methodology and objectives in relation to the MITRE ATT&CK framework. We provide a categorization of the identified papers according to different criteria such as use cases, application scenarios, adopted methodologies and the use of additional data. Finally, we discuss open issues and future research directions involving not only the MITRE ATT&CK framework but also the fields of risk analysis and cyber-threat intelligence at large.
This thesis enhances the autonomy of the M4 (Multi-Modal Mobility Morphobot) robot, designed for Mars and rescue missions. The research enables the robot to autonomously select its locomotion mode and path in complex terrains. Focusing on walking and flying modes, a Gazebo simulation, and custom perception-navigations pipelines are developed. Leveraging deep learning, the robot determines optimal mode transitions based on a 2.5D map. Additionally, an energy efficient path planner based on 2.5D mapping is implemented and validated in simulations. The contributions demonstrate scalability for future mode integrations. The M4 robot showcases intelligent mode switching, efficient navigation, and reduced energy consumption, bringing us closer to fully autonomous multi-modal robots for exploration and rescue missions. This work paves the way for future advancements in autonomous robotics, with the ultimate vision of deploying the M4 robot for exploration and rescue tasks, making a significant impact in the quest for intelligent and versatile robotic systems.
Reduced order models (ROMs) are widely used in scientific computing to tackle high-dimensional systems. However, traditional ROM methods may only partially capture the intrinsic geometric characteristics of the data. These characteristics encompass the underlying structure, relationships, and essential features crucial for accurate modeling. To overcome this limitation, we propose a novel ROM framework that integrates optimal transport (OT) theory and neural network-based methods. Specifically, we investigate the Kernel Proper Orthogonal Decomposition (kPOD) method exploiting the Wasserstein distance as the custom kernel, and we efficiently train the resulting neural network (NN) employing the Sinkhorn algorithm. By leveraging an OT-based nonlinear reduction, the presented framework can capture the geometric structure of the data, which is crucial for accurate learning of the reduced solution manifold. When compared with traditional metrics such as mean squared error or cross-entropy, exploiting the Sinkhorn divergence as the loss function enhances stability during training, robustness against overfitting and noise, and accelerates convergence. To showcase the approach's effectiveness, we conduct experiments on a set of challenging test cases exhibiting a slow decay of the Kolmogorov n-width. The results show that our framework outperforms traditional ROM methods in terms of accuracy and computational efficiency.
The Natural Language Processing(NLP) community has been using crowd sourcing techniques to create benchmark datasets such as General Language Understanding and Evaluation(GLUE) for training modern Language Models such as BERT. GLUE tasks measure the reliability scores using inter annotator metrics i.e. Cohens Kappa. However, the reliability aspect of LMs has often been overlooked. To counter this problem, we explore a knowledge-guided LM ensembling approach that leverages reinforcement learning to integrate knowledge from ConceptNet and Wikipedia as knowledge graph embeddings. This approach mimics human annotators resorting to external knowledge to compensate for information deficits in the datasets. Across nine GLUE datasets, our research shows that ensembling strengthens reliability and accuracy scores, outperforming state of the art.
Human Activity Recognition (HAR) has been a popular research field due to the widespread of devices with sensors and computational power (e.g., smartphones and smartwatches). Applications for HAR systems have been extensively researched in recent literature, mainly due to the benefits of improving quality of life in areas like health and fitness monitoring. However, since persons have different motion patterns when performing physical activities, a HAR system must adapt to user characteristics to maintain or improve accuracy. Mobile devices, such as smartphones, used to implement HAR systems, have limited resources (e.g., battery life). They also have difficulty adapting to the device's constraints to work efficiently for long periods. In this work, we present a kNN-based HAR system and an extensive study of the influence of hyperparameters (window size, overlap, distance function, and the value of k) and parameters (sampling frequency) on the system accuracy, energy consumption, and inference time. We also study how hyperparameter configurations affect the model's user and activity performance. Experimental results show that adapting the hyperparameters makes it possible to adjust the system's behavior to the user, the device, and the target service. These results motivate the development of a HAR system capable of automatically adapting the hyperparameters for the user, the device, and the service.
Physical-layer security (PLS) is a promising technique to complement communication security in beyond-5G wireless networks. However, PLS developments in current research are often based on the ideal assumption of infinite coding blocklengths or perfect knowledge of the wiretap link's channel state information (CSI). In this work, we study the performance of finite blocklength (FBL) transmissions using a new secrecy metric - the average information leakage (AIL). We evaluate the exact and approximate AIL with arbitrary signaling and fading channels, assuming that the eavesdropper's instantaneous CSI is unknown. We then conduct case studies that use artificial noise (AN) beamforming to thoroughly analyze the AIL in both Rayleigh and Rician fading channels. The accuracy of the analytical expressions is verified through extensive simulations, and various insights regarding the impact of key system parameters on the AIL are obtained. Particularly, our results reveal that allowing a small level of AIL can potentially lead to significant reliability improvements. To improve the system performance, we formulate and solve an average secrecy throughput (AST) optimization problem via both non-adaptive and adaptive design strategies. Our findings highlight the significance of blocklength design and AN power allocation, as well as the impact of their trade-off on the AST.
Recommender systems have been widely applied in different real-life scenarios to help us find useful information. Recently, Reinforcement Learning (RL) based recommender systems have become an emerging research topic. It often surpasses traditional recommendation models even most deep learning-based methods, owing to its interactive nature and autonomous learning ability. Nevertheless, there are various challenges of RL when applying in recommender systems. Toward this end, we firstly provide a thorough overview, comparisons, and summarization of RL approaches for five typical recommendation scenarios, following three main categories of RL: value-function, policy search, and Actor-Critic. Then, we systematically analyze the challenges and relevant solutions on the basis of existing literature. Finally, under discussion for open issues of RL and its limitations of recommendation, we highlight some potential research directions in this field.
Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.
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