A 3D point cloud completion task is to generate completed 3D objects given partial observations. Auto-encoder-based models suffer from poor generalization ability to untrained 3D data. Current diffusion-based models add isotropic noise with the same variance in three x, y, z axes. More importantly, these models ignore real-world anisotropic evolution properties of 3D particles from a non-equilibrium state to thermodynamic equilibrium in the real physical world due to the velocity and energy thermodynamics of the particles, leading to unstable completions of 3D object topology. This paper presents a novel physically-based anisotropic 3D diffusion model (3DDM) to address these issues. We also present derivations of our proposed forward and reverse processes and a loss function in closed form, thus reproducibility. The 3DDM contains anisotropic energy-aware forward and reverse processes with a novel anisotropic quadratic loss function. The forward process adds anisotropic 3D Gaussian noises per-axis and mimics the thermal non-equilibrium evolution towards Maxwellian equilibrium based on velocity and kinetic energy evolutions of 3D particles in the real physical space. The reverse process learns to denoise along per-axis and per-timestep anisotropically. The anisotropic quadratic loss function penalizes errors along certain axes, yielding a highly flexible and anisotropic reverse diffusion process and a physically realistic generative model. The 3DDM denoises along x, y, z axes with different velocities from the non-equilibrium evolution, achieving fewer than 20 diffusion steps and strong generalization to unseen 3D objects and real-world scenes that were not trained.

Intelligent operation and green distribution have become a mainstream task to enable fast development of urban distribution applications. However, how to improve the distribution efficiency with low operating costs, and mitigate environmental pollution with high service quality is still a significant challenge in the practical industry applications. To address the above challenge, in this paper, we take into account both the economic cost and environmental cost, and propose a joint distribution path planning model based on neural architecture search (NAS) for electric vehicles with double-decked drones. More specifically, in our design, the factors such as energy consumption and carbon emissions of vehicles and drones during different distribution stages are considered. Then, a mixed integer linear programming model is established under the constraints of customer time window, vehicle capacity and vehicle battery capacity. Based on this model, a hybrid genetic algorithm is proposed to solve the optimization problem, where the carbon emission cost is estimated by the convolution neural network model, which is optimized by the neural architecture search technique. We conduct extensive experiments to validate the effectiveness of the proposed method. The experimental results show that, compared with CPLEX, the proposed method excelled in both solution quality and speed, which verify the effectives of our hybrid algorithm in dealing with the 2E-VRPD problem, where delivery routes can be well optimized, the efficiency of vehicle-machine collaborative delivery can be improved, and delivery costs are reduced.

Abstract Cloud storage is a fundamental component of the cloud computing system, which significantly affects the overall performance and quality of service of the cloud. Cloud storage servers face the challenge of imbalanced workloads. According to our observations on the time series generated by cloud storage, we found that the imbalance workloads will dramatically increase the tail latency of data access in the multi-tenant scenario. The intuitive solution is to periodicity detect the imbalance storage nodes and re-balance the loads. However, there are four challenges to accurately detect load of storage in the cloud with multiple tenants since the load may change frequently in cloud. This paper proposes PrecisePeriod, a precise periodicity detection algorithm customized for multi-tenant cloud storage. It removes outliers through data preprocessing, employs the discrete wavelet transform to remove high-frequency noise while keeping frequency domain information, computes the candidate periodicity queue using the autocorrelation function, and determines precise period through periodicity verification. Then, we design a cloud storage load balancing scheduling strategy based on PrecisePeriod, and the evaluation shows that the PrecisePeriod scheduling significantly reduces tail latency while only bringing $$1-2\%$$ 1-2% overhead.

Binary-only bug search has already drawn a lot attentions recently, due to the increasing growth of security breaches. Most of existing work focuses on searching by checking the similarity of code snippets. It is further required to check whether the function is patched or not. Unfortunately, this is still a manual effort for all existing code search based approaches. In this paper, we propose a novel approach for automatic patch detection. we build a patch detector by learning the feature representation from the patched code in the binary format. We utilize the feature encoding technique to make the binary code trainable, and build our neural network model to learn the patch feature for increasing detection accuracy. We have implemented a prototype called PATCHDETECTOR, and systematically evaluated its performance in terms of the accuracy and efficiency by using 1,600 OpenSSL binaries of 216,000 functions. Experimental results have shown that PATCHDETECTOR can effectively detect whether the target binary function is patched or not with the detection accuracy of 92% on average.

TrustZone-based Real-time Kernel Protection (TZ-RKP) is a novel system that provides real-time protection of the OS kernel using the ARM TrustZone secure world. TZ-RKP is more secure than current approaches that use hypervisors to host kernel protection tools. Although hypervisors provide privilege and isolation, they face fundamental security challenges due to their growing complexity and code size. TZ-RKP puts its security monitor, which represents its entire Trusted Computing Base (TCB), in the TrustZone secure world; a safe isolated environment that is dedicated to security services. Hence, the security monitor is safe from attacks that can potentially compromise the kernel, which runs in the normal world. Using the secure world for kernel protection has been crippled by the lack of control over targets that run in the normal world. TZ-RKP solves this prominent challenge using novel techniques that deprive the normal world from the ability to control certain privileged system functions. These functions are forced to route through the secure world for inspection and approval before being executed. TZ-RKP's control of the normal world is non-bypassable. It can effectively stop attacks that aim at modifying or injecting kernel binaries. It can also stop attacks that involve modifying the system memory layout, e.g, through memory double mapping. This paper presents the implementation and evaluation of TZ-RKP, which has gone through rigorous and thorough evaluation of effectiveness and performance. It is currently deployed on the latest models of the Samsung Galaxy series smart phones and tablets, which clearly demonstrates that it is a practical real-world system.

This paper focuses on deriving a robust backstepping control approach to solve the active vibration isolation problem using a Stewart platform. The dynamics of the Stewart platform driven by the linear voice coil motors is developed with the Newton-Euler method. By fully considering the characteristics of vibration isolation, the properties of the dynamics of the Stewart platform are applied to transform the coupled dynamics into six independent single-input single-output (SISO) channels. Furthermore, in the procedure of controller design, the influence factors of vibration isolation are taken into account, such as the parameter perturbation and the unmodeled dynamics, etc. Meanwhile, high-gain design method is employed to deal with the problem introduced by input unmodeled dynamics of the system. It is demonstrated that a sufficiently small L2gain from disturbance to output can be obtained in Lyapunov synthesis. The simulation results show that the controller can effectively attenuate low frequency vibrations in six degrees of freedom (DOFs) and a satisfactory vibration isolation performance can be achieved.

In this paper, a radial basis function disturbance observer (RBFDO) based controller is developed to solve the control problem of an electrically driven Stewart platform for multiple degree-of-freedom (DOF) active vibration isolation. The RBFDO's are employed to monitor the modeling errors and external disturbances, etc. And on-line tuning rules for updating the weights of the RBFDO's are designed based on the e1-modification algorithm. Meanwhile, by considering the dynamics of the Stewart platform and its voice coil actuators, the developed RBFDO's are integrated with the backstepping method to design the active vibration isolation controller. In the presence of external vibrations and model uncertainties, the uniformly ultimately boundedness of the stabilization errors and the weight estimation errors can be guaranteed by the Lyapunov theory. Finally, simulation results demonstrate the proposed controller can effectively attenuate external low-frequency vibrations in six DOFs.

This paper presents an approach for sonar feature map building. The approach is composed of extracting features at the data-level fusion stage and fusing the extracted features with the registered features in the map at the feature-level fusion stage. A data-level fusion model, termed three measurements association model (TMAM), has been developed for associating three measurements with a line or a point feature. By use of TMAM, different sets of measurements obtained from a single sonar sensor at consecutive steps are associated with the line and point features. Subsequently, the parameters of the identified features are estimated by use of the iterated least square estimation method. Finally, when a feature is extracted, a simple feature-level fusion strategy is used to update the map. The proposed approach has been tested both in simulation and on real data.