Xiaotong Zhang

Aadi Kothari, Tony Tohme, Xiaotong Zhang et al.

Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models offline to fit hyper-parameters in the hope of capturing a model encompassing human motion. While these methods provide good initial results, they are missing out on leveraging well-studied human body kinematic models as well as body and scene constraints which can help boost the efficacy of these prediction frameworks while also explicitly avoiding implausible human joint configurations. We propose a novel human motion prediction framework that incorporates human joint constraints and scene constraints in a Gaussian Process Regression (GPR) model to predict human motion over a set time horizon. This formulation is combined with an online context-aware constraints model to leverage task-dependent motions. It is tested on a human arm kinematic model and implemented on a human-robot collaborative setup with a UR5 robot arm to demonstrate the real-time capability of our approach. Simulations were also performed on datasets like HA4M and ANDY. The simulation and experimental results demonstrate considerable improvements in a Gaussian Process framework when these constraints are explicitly considered.

Fajun Sun, Selena He, Xiaotong Zhang et al.

The characteristics of high loss rate, resource constraint, being eager for good security haven't been fully considered in the existing key establishment protocols of wireless sensor networks. Analyzing the key establishing problem from the MAC and physical layers, existing protocols are not practicable enough due to their overlong agreement packets and single round key establishment. To mitigate the impact of these problems, a group of design principles for secure sensor networks has been presented and TinyAKE, an authenticated key transport protocol based on lightweight certificate, is proposed in this paper. The security of TinyAKE are proved with the theory of indistinguishability, meanwhile, the correctness is also proved, the performance is analyzed and compared with the existing similar protocols. Finally TinyAKE is implemented in the TinyOS with TinyECC. Our evaluation shows that TinyAKE is a more practicable and trustable authenticated key establishment protocol than existing protocols. The experimental result shows that the key transport with certificate mechanism is feasible in WSNs. Moreover, the simulation results show that the optimal number of repeated negotiation is one when the secure connectivity rate of TinyAKE is improved by using the repeated key negotiation.

Tailin Liang, John Glossner, Lei Wang et al.

Deep neural networks have been applied in many applications exhibiting extraordinary abilities in the field of computer vision. However, complex network architectures challenge efficient real-time deployment and require significant computation resources and energy costs. These challenges can be overcome through optimizations such as network compression. Network compression can often be realized with little loss of accuracy. In some cases accuracy may even improve. This paper provides a survey on two types of network compression: pruning and quantization. Pruning can be categorized as static if it is performed offline or dynamic if it is performed at run-time. We compare pruning techniques and describe criteria used to remove redundant computations. We discuss trade-offs in element-wise, channel-wise, shape-wise, filter-wise, layer-wise and even network-wise pruning. Quantization reduces computations by reducing the precision of the datatype. Weights, biases, and activations may be quantized typically to 8-bit integers although lower bit width implementations are also discussed including binary neural networks. Both pruning and quantization can be used independently or combined. We compare current techniques, analyze their strengths and weaknesses, present compressed network accuracy results on a number of frameworks, and provide practical guidance for compressing networks.