scholarly journals Multi-Step Predictions for Adaptive Sampling using Proximal ADMM

2021 ◽  
Author(s):  
Viet-Anh Le ◽  
Linh Nguyen ◽  
Truong X. Nghiem
Keyword(s):  
Adaptive Sampling ◽  
Optimization Problem ◽  
Conditional Entropy ◽  
Mobile Sensors ◽  
Mixed Integer ◽  
Sampling Step ◽  
Multiple Sampling ◽  
Novel Approach ◽  
Sampling Problem ◽  
Gp Model

<p>The paper presents a novel approach by using multi- step predictions to address the adaptive sampling problem in a resources and obstacles constrained mobile robotic sensor network to efficiently monitor environmental spatial phenomena. It is first proposed to employ the Gaussian process (GP) to represent the spatial field, which can then be used to predict the field at unmeasured locations. The adaptive sampling problem aims to drive the mobile sensors to optimally navigate the environment where the sensors adaptively take measurements of the spatial phenomena at each sampling step. To this end, a conditional entropy based optimality criterion is proposed, which aims to minimize prediction uncertainty of the GP model. By predicting possible measurements the mobile sensors potentially take in a horizon of multiple sampling steps ahead and exploiting the chain rule of the conditional entropy, a multi-step predictions based adaptive sampling optimization problem is formulated. The objective of the optimization problem is to find the optimal sampling paths for the mobile sensors in multiple sampling steps ahead, which then provides their benefits in terms of better navigation, deployment and data collection with more informative sensor readings. However, the optimization problem is nonconvex, complex, constrained and mixed-integer. Therefore, it is proposed to employ the proximal alternating direction method of multipliers algorithm to efficiently solve the problem. More importantly, the solution obtained by the proposed approach is theoretically guaranteed to be converged to a stationary value. Effectiveness of the proposed algorithm was extensively validated by the real- world dataset, where the obtained results are highly promising.</p>

scholarly journals Multi-Step Predictions for Adaptive Sampling using Proximal ADMM

2021 ◽  
Author(s):  
Viet-Anh Le ◽  
Linh Nguyen ◽  
Truong X. Nghiem
Keyword(s):  
Adaptive Sampling ◽  
Optimization Problem ◽  
Conditional Entropy ◽  
Mobile Sensors ◽  
Mixed Integer ◽  
Sampling Step ◽  
Multiple Sampling ◽  
Novel Approach ◽  
Sampling Problem ◽  
Gp Model

<p>The paper presents a novel approach by using multi- step predictions to address the adaptive sampling problem in a resources and obstacles constrained mobile robotic sensor network to efficiently monitor environmental spatial phenomena. It is first proposed to employ the Gaussian process (GP) to represent the spatial field, which can then be used to predict the field at unmeasured locations. The adaptive sampling problem aims to drive the mobile sensors to optimally navigate the environment where the sensors adaptively take measurements of the spatial phenomena at each sampling step. To this end, a conditional entropy based optimality criterion is proposed, which aims to minimize prediction uncertainty of the GP model. By predicting possible measurements the mobile sensors potentially take in a horizon of multiple sampling steps ahead and exploiting the chain rule of the conditional entropy, a multi-step predictions based adaptive sampling optimization problem is formulated. The objective of the optimization problem is to find the optimal sampling paths for the mobile sensors in multiple sampling steps ahead, which then provides their benefits in terms of better navigation, deployment and data collection with more informative sensor readings. However, the optimization problem is nonconvex, complex, constrained and mixed-integer. Therefore, it is proposed to employ the proximal alternating direction method of multipliers algorithm to efficiently solve the problem. More importantly, the solution obtained by the proposed approach is theoretically guaranteed to be converged to a stationary value. Effectiveness of the proposed algorithm was extensively validated by the real- world dataset, where the obtained results are highly promising.</p>

scholarly journals Multi-Step Predictions for Adaptive Sampling using Proximal ADMM

2021 ◽  
Author(s):  
Viet-Anh Le ◽  
Linh Nguyen ◽  
Truong X. Nghiem
Keyword(s):  
Adaptive Sampling ◽  
Optimization Problem ◽  
Conditional Entropy ◽  
Mobile Sensors ◽  
Mixed Integer ◽  
Sampling Step ◽  
Multiple Sampling ◽  
Novel Approach ◽  
Sampling Problem ◽  
Gp Model

<p>The paper presents a novel approach by using multi- step predictions to address the adaptive sampling problem in a resources and obstacles constrained mobile robotic sensor network to efficiently monitor environmental spatial phenomena. It is first proposed to employ the Gaussian process (GP) to represent the spatial field, which can then be used to predict the field at unmeasured locations. The adaptive sampling problem aims to drive the mobile sensors to optimally navigate the environment where the sensors adaptively take measurements of the spatial phenomena at each sampling step. To this end, a conditional entropy based optimality criterion is proposed, which aims to minimize prediction uncertainty of the GP model. By predicting possible measurements the mobile sensors potentially take in a horizon of multiple sampling steps ahead and exploiting the chain rule of the conditional entropy, a multi-step predictions based adaptive sampling optimization problem is formulated. The objective of the optimization problem is to find the optimal sampling paths for the mobile sensors in multiple sampling steps ahead, which then provides their benefits in terms of better navigation, deployment and data collection with more informative sensor readings. However, the optimization problem is nonconvex, complex, constrained and mixed-integer. Therefore, it is proposed to employ the proximal alternating direction method of multipliers algorithm to efficiently solve the problem. More importantly, the solution obtained by the proposed approach is theoretically guaranteed to be converged to a stationary value. Effectiveness of the proposed algorithm was extensively validated by the real- world dataset, where the obtained results are highly promising.</p>

scholarly journals An Efficient Adaptive Sampling Approach for Mobile Robotic Sensor Networks using Proximal ADMM

2021 ◽  
Author(s):  
Viet-Anh Le ◽  
Linh Nguyen ◽  
Truong X. Nghiem
Keyword(s):  
Adaptive Sampling ◽  
Optimization Problem ◽  
Complex Function ◽  
Optimal Solution ◽  
Alternating Direction ◽  
Robotic Sensor ◽  
Sampling Problem ◽  
Sampling Optimization ◽  
Robotic Sensor Networks ◽  
Grid Based

Adaptive sampling in a resource-constrained mobile robotic sensor network for monitoring a spatial phenomenon is a fundamental but challenging problem. In applications where a Gaussian Process is employed to model a spatial field and then to predict the field at unobserved locations, the adaptive sampling problem can be formulated as minimizing the negative log determinant of a predicted covariance matrix, which is a non-convex and highly complex function. Consequently, this optimization problem is typically addressed in a grid-based discrete domain, although it is combinatorial NP-hard and only a near-optimal solution can be obtained. To overcome this challenge, we propose using a proximal alternating direction method of multipliers (Px-ADMM) technique to solve the adaptive sampling optimization problem in a continuous domain. Numerical simulations using a real-world dataset demonstrate that the proposed PxADMM- based method outperforms a commonly used grid-based greedy method in the final model accuracy.

scholarly journals An Efficient Adaptive Sampling Approach for Mobile Robotic Sensor Networks using Proximal ADMM

2021 ◽  
Author(s):  
Viet-Anh Le ◽  
Linh Nguyen ◽  
Truong X. Nghiem
Keyword(s):  
Adaptive Sampling ◽  
Optimization Problem ◽  
Complex Function ◽  
Optimal Solution ◽  
Alternating Direction ◽  
Robotic Sensor ◽  
Sampling Problem ◽  
Sampling Optimization ◽  
Robotic Sensor Networks ◽  
Grid Based

Adaptive sampling in a resource-constrained mobile robotic sensor network for monitoring a spatial phenomenon is a fundamental but challenging problem. In applications where a Gaussian Process is employed to model a spatial field and then to predict the field at unobserved locations, the adaptive sampling problem can be formulated as minimizing the negative log determinant of a predicted covariance matrix, which is a non-convex and highly complex function. Consequently, this optimization problem is typically addressed in a grid-based discrete domain, although it is combinatorial NP-hard and only a near-optimal solution can be obtained. To overcome this challenge, we propose using a proximal alternating direction method of multipliers (Px-ADMM) technique to solve the adaptive sampling optimization problem in a continuous domain. Numerical simulations using a real-world dataset demonstrate that the proposed PxADMM- based method outperforms a commonly used grid-based greedy method in the final model accuracy.

scholarly journals An Efficient Adaptive Sampling Approach for Mobile Robotic Sensor Networks using Proximal ADMM

2021 ◽  
Author(s):  
Viet-Anh Le ◽  
Linh Nguyen ◽  
Truong X. Nghiem
Keyword(s):  
Adaptive Sampling ◽  
Optimization Problem ◽  
Complex Function ◽  
Optimal Solution ◽  
Alternating Direction ◽  
Robotic Sensor ◽  
Sampling Problem ◽  
Sampling Optimization ◽  
Robotic Sensor Networks ◽  
Grid Based

Adaptive sampling in a resource-constrained mobile robotic sensor network for monitoring a spatial phenomenon is a fundamental but challenging problem. In applications where a Gaussian Process is employed to model a spatial field and then to predict the field at unobserved locations, the adaptive sampling problem can be formulated as minimizing the negative log determinant of a predicted covariance matrix, which is a non-convex and highly complex function. Consequently, this optimization problem is typically addressed in a grid-based discrete domain, although it is combinatorial NP-hard and only a near-optimal solution can be obtained. To overcome this challenge, we propose using a proximal alternating direction method of multipliers (Px-ADMM) technique to solve the adaptive sampling optimization problem in a continuous domain. Numerical simulations using a real-world dataset demonstrate that the proposed PxADMM- based method outperforms a commonly used grid-based greedy method in the final model accuracy.

scholarly journals Joint optimization of computing ratio and access points’ density for mixed mobile edge/cloud computing

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Tianqi Jing ◽  
Shiwen He ◽  
Fei Yu ◽  
Yongming Huang ◽  
Luxi Yang ◽  
...  
Keyword(s):  
Cloud Computing ◽  
Coverage Probability ◽  
Optimization Problem ◽  
Mobile Cloud Computing ◽  
Low Complexity ◽  
Mixed Integer ◽  
Joint Optimization ◽  
Mobile Cloud ◽  
Convex Problem

AbstractCooperation between the mobile edge computing (MEC) and the mobile cloud computing (MCC) in offloading computing could improve quality of service (QoS) of user equipments (UEs) with computation-intensive tasks. In this paper, in order to minimize the expect charge, we focus on the problem of how to offload the computation-intensive task from the resource-scarce UE to access point’s (AP) and the cloud, and the density allocation of APs’ at mobile edge. We consider three offloading computing modes and focus on the coverage probability of each mode and corresponding ergodic rates. The resulting optimization problem is a mixed-integer and non-convex problem in the objective function and constraints. We propose a low-complexity suboptimal algorithm called Iteration of Convex Optimization and Nonlinear Programming (ICONP) to solve it. Numerical results verify the better performance of our proposed algorithm. Optimal computing ratios and APs’ density allocation contribute to the charge saving.

Optimization design of drive system for industrial robots based on dynamic performance

2017 ◽  
Vol 44 (6) ◽  
pp. 765-775 ◽  
Author(s):  
LianZheng Ge ◽  
Jian Chen ◽  
Ruifeng Li ◽  
Peidong Liang
Keyword(s):  
Optimization Model ◽  
Optimization Problem ◽  
Industrial Robot ◽  
Dynamic Performance ◽  
System Optimization ◽  
Drive System ◽  
Industrial Robots ◽  
Mixed Integer ◽  
Light Weight ◽  
Content Type

Purpose The global performance of industrial robots partly depends on the properties of drive system consisting of motor inertia, gearbox inertia, etc. This paper aims to deal with the problem of optimization of global dynamic performance for robotic drive system selected from available components. Design/methodology/approach Considering the performance specifications of drive system, an optimization model whose objective function is composed of working efficiency and natural frequency of robots is proposed. Meanwhile, constraints including the rated and peak torque of motor, lifetime of gearbox and light-weight were taken into account. Furthermore, the mapping relationship between discrete optimal design variables and component properties of drive system were presented. The optimization problem with mixed integer variables was solved by a mixed integer-laplace crossover power mutation algorithm. Findings The optimization results show that our optimization model and methods are applicable, and the performances are also greatly promoted without sacrificing any constraints of drive system. Besides, the model fits the overall performance well with respect to light-weight ratio, safety, cost reduction and others. Practical implications The proposed drive system optimization method has been used for a 4-DOF palletizing robot, which has been largely manufactured in a factory. Originality/value This paper focuses on how the simulation-based optimization can be used for the purpose of generating trade-offs between cost, performance and lifetime when designing robotic drive system. An applicable optimization model and method are proposed to handle the dynamic performance optimization problem of a drive system for industrial robot.

A novel approach to discrete truss design problems using mixed integer neighborhood search

2018 ◽  
Vol 58 (6) ◽  
pp. 2411-2429 ◽  
Author(s):  
Mohammad Shahabsafa ◽  
Ali Mohammad-Nezhad ◽  
Tamás Terlaky ◽  
Luis Zuluaga ◽  
Sicheng He ◽  
...  
Keyword(s):  
Mixed Integer ◽  
Neighborhood Search ◽  
Design Problems ◽  
Truss Design ◽  
Novel Approach

scholarly journals Shearlet-based regularized reconstruction in region-of-interest computed tomography

2018 ◽  
Vol 13 (4) ◽  
pp. 34
Author(s):  
T.A. Bubba ◽  
D. Labate ◽  
G. Zanghirati ◽  
S. Bonettini
Keyword(s):  
Optimization Problem ◽  
Ad Hoc ◽  
Iterative Scheme ◽  
Tomographic Reconstruction ◽  
Region Of Interest ◽  
Projection Data ◽  
Reconstruction Problem ◽  
Convex Optimization Problem ◽  
Scanning Time ◽  
Novel Approach

Region of interest (ROI) tomography has gained increasing attention in recent years due to its potential to reducing radiation exposure and shortening the scanning time. However, tomographic reconstruction from ROI-focused illumination involves truncated projection data and typically results in higher numerical instability even when the reconstruction problem has unique solution. To address this problem, bothad hocanalytic formulas and iterative numerical schemes have been proposed in the literature. In this paper, we introduce a novel approach for ROI tomographic reconstruction, formulated as a convex optimization problem with a regularized term based on shearlets. Our numerical implementation consists of an iterative scheme based on the scaled gradient projection method and it is tested in the context of fan-beam CT. Our results show that our approach is essentially insensitive to the location of the ROI and remains very stable also when the ROI size is rather small.

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