Edge computing enables data processing closer to the source, significantly reducing latency an essential requirement for real-time vision-based analytics such as object detection in surveillance and smart city environments. However, these tasks place substantial demands on resource constrained edge devices, making the joint optimization of energy consumption and detection accuracy critical. To address this challenge, we propose ECORE, a framework that integrates multiple dynamic routing strategies including estimation based techniques and a greedy selection algorithm to direct image processing requests to the most suitable edge device-model pair. ECORE dynamically balances energy efficiency and detection performance based on object characteristics. We evaluate our approach through extensive experiments on real-world datasets, comparing the proposed routers against widely used baseline techniques. The evaluation leverages established object detection models (YOLO, SSD, EfficientDet) and diverse edge platforms, including Jetson Orin Nano, Raspberry Pi 4 and 5, and TPU accelerators. Results demonstrate that our proposed context-aware routing strategies can reduce energy consumption and latency by 45% and 49%, respectively, while incurring only a 2% loss in detection accuracy compared to accuracy-centric methods.
This paper introduces EdgeProfiler, a fast profiling framework designed for evaluating lightweight Large Language Models (LLMs) on edge systems. While LLMs offer remarkable capabilities in natural language understanding and generation, their high computational, memory, and power requirements often confine them to cloud environments. EdgeProfiler addresses these challenges by providing a systematic methodology for assessing LLM performance in resource-constrained edge settings. The framework profiles compact LLMs, including TinyLLaMA, Gemma3.1B, Llama3.2-1B, and DeepSeek-r1-1.5B, using aggressive quantization techniques and strict memory constraints. Analytical modeling is used to estimate latency, FLOPs, and energy consumption. The profiling reveals that 4-bit quantization reduces model memory usage by approximately 60-70%, while maintaining accuracy within 2-5% of full-precision baselines. Inference speeds are observed to improve by 2-3x compared to FP16 baselines across various edge devices. Power modeling estimates a 35-50% reduction in energy consumption for INT4 configurations, enabling practical deployment on hardware such as Raspberry Pi 4/5 and Jetson Orin Nano Super. Our findings emphasize the importance of efficient profiling tailored to lightweight LLMs in edge environments, balancing accuracy, energy efficiency, and computational feasibility.
Reliable millimeter-wave (mmWave) communication in non-line-of-sight (NLoS) conditions remains a major challenge for both military and civilian operations, especially in urban or infrastructure-limited environments. This paper presents a vision-aided autonomous reflector system designed to enhance mmWave link performance by dynamically steering signal reflections using a motorized metallic plate. The proposed system leverages a monocular camera to detect ArUco markers on allied transmitter and receiver nodes, estimate their angles of arrival, and align the reflector in real time for optimal signal redirection. This approach enables selective beam coverage by serving only authenticated targets with visible markers and reduces the risk of unintended signal exposure. The designed prototype, built on a Raspberry Pi 4 and low-power hardware, operates autonomously without reliance on external infrastructure or GPS. Experimental results at 60\,GHz demonstrate a 23\,dB average gain in received signal strength and an 0.89 probability of maintaining signal reception above a target threshold of -65 dB in an indoor environment, far exceeding the static and no-reflector baselines. These results demonstrate the system's potential for resilient and adaptive mmWave connectivity in complex and dynamic environments.
We present an autonomous aerial surveillance platform, Veg, designed as a fault-tolerant quadcopter system that integrates visual SLAM for GPS-independent navigation, advanced control architecture for dynamic stability, and embedded vision modules for real-time object and face recognition. The platform features a cascaded control design with an LQR inner-loop and PD outer-loop trajectory control. It leverages ORB-SLAM3 for 6-DoF localization and loop closure, and supports waypoint-based navigation through Dijkstra path planning over SLAM-derived maps. A real-time Failure Detection and Identification (FDI) system detects rotor faults and executes emergency landing through re-routing. The embedded vision system, based on a lightweight CNN and PCA, enables onboard object detection and face recognition with high precision. The drone operates fully onboard using a Raspberry Pi 4 and Arduino Nano, validated through simulations and real-world testing. This work consolidates real-time localization, fault recovery, and embedded AI on a single platform suitable for constrained environments.
Deploying Large Language Models (LLMs) on edge devices presents significant challenges due to computational constraints, memory limitations, inference speed, and energy consumption. Model quantization has emerged as a key technique to enable efficient LLM inference by reducing model size and computational overhead. In this study, we conduct a comprehensive analysis of 28 quantized LLMs from the Ollama library, which applies by default Post-Training Quantization (PTQ) and weight-only quantization techniques, deployed on an edge device (Raspberry Pi 4 with 4GB RAM). We evaluate energy efficiency, inference performance, and output accuracy across multiple quantization levels and task types. Models are benchmarked on five standardized datasets (CommonsenseQA, BIG-Bench Hard, TruthfulQA, GSM8K, and HumanEval), and we employ a high-resolution, hardware-based energy measurement tool to capture real-world power consumption. Our findings reveal the trade-offs between energy efficiency, inference speed, and accuracy in different quantization settings, highlighting configurations that optimize LLM deployment for resource-constrained environments. By integrating hardware-level energy profiling with LLM benchmarking, this study provides actionable insights for sustainable AI, bridging a critical gap in existing research on energy-aware LLM deployment.
The application of on-device language models (ODLMs) on resource-constrained edge devices is a multi-dimensional problem that strikes a fine balance between computational effectiveness, memory, power usage, and linguistic capacity across heterogeneous tasks. This holistic study conducts a thorough investigation of the trade-offs between domain-specific optimization and cross-domain robustness, culminating in the proposal of the Generalized Edge Model (GEM), a new architecture that aims to balance specialization and generalization in a harmonious manner. With a rigorous experimental approach testing 47 well-chosen benchmarks in eight domains--healthcare, law, finance, STEM, commonsense, conversational AI, multilingual, and domain-adaptive tasks--we show that conventional optimization techniques decrease target task perplexity by 18-25% but result in a precipitous decline in general-task performance with F1 scores decreasing by 12-29%, as reported by Liu et al. GEM employs a Sparse Cross-Attention Router (SCAR) to dynamically allocate computation to a variable number of computing resources with a cross-domain F1 accuracy of 0.89 on less than 100ms latency across Raspberry Pi 4, Pixel 6, iPhone 13, and bespoke custom neural processing units (NPUs). Compared to GPT-4 Lite, GEM enhances the general-task level by 7% with respect and parity in domain-specific performance. We propose three new measurement tools--Domain Specialization Index (DSI), Generalization Gap (GG), and Cross-Domain Transfer Ratio (CDTR)--which show strong correlation between model compression intensity and brittleness.
The integration of large language models (LLMs) on low-power edge devices such as Raspberry Pi, known as edge language models (ELMs), has introduced opportunities for more personalized, secure, and low-latency language intelligence that is accessible to all. However, the resource constraints inherent in edge devices and the lack of robust ethical safeguards in language models raise significant concerns about fairness, accountability, and transparency in model output generation. This paper conducts a comparative analysis of text-based bias across language model deployments on edge, cloud, and desktop environments, aiming to evaluate how deployment settings influence model fairness. Specifically, we examined an optimized Llama-2 model running on a Raspberry Pi 4; GPT 4o-mini, Gemini-1.5-flash, and Grok-beta models running on cloud servers; and Gemma2 and Mistral models running on a MacOS desktop machine. Our results demonstrate that Llama-2 running on Raspberry Pi 4 is 43.23% and 21.89% more prone to showing bias over time compared to models running on the desktop and cloud-based environments. We also propose the implementation of a feedback loop, a mechanism that iteratively adjusts model behavior based on previous outputs, where predefined constraint weights are applied layer-by-layer during inference, allowing the model to correct bias patterns, resulting in 79.28% reduction in model bias.
This paper introduces EdgeMLOps, a framework leveraging Cumulocity IoT and thin-edge.io for deploying and managing machine learning models on resource-constrained edge devices. We address the challenges of model optimization, deployment, and lifecycle management in edge environments. The framework's efficacy is demonstrated through a visual quality inspection (VQI) use case where images of assets are processed on edge devices, enabling real-time condition updates within an asset management system. Furthermore, we evaluate the performance benefits of different quantization methods, specifically static and dynamic signed-int8, on a Raspberry Pi 4, demonstrating significant inference time reductions compared to FP32 precision. Our results highlight the potential of EdgeMLOps to enable efficient and scalable AI deployments at the edge for industrial applications.
Designing efficient neural networks for embedded devices is a critical challenge, particularly in applications requiring real-time performance, such as aerial imaging with drones and UAVs for emergency responses. In this work, we introduce TakuNet, a novel light-weight architecture which employs techniques such as depth-wise convolutions and an early downsampling stem to reduce computational complexity while maintaining high accuracy. It leverages dense connections for fast convergence during training and uses 16-bit floating-point precision for optimization on embedded hardware accelerators. Experimental evaluation on two public datasets shows that TakuNet achieves near-state-of-the-art accuracy in classifying aerial images of emergency situations, despite its minimal parameter count. Real-world tests on embedded devices, namely Jetson Orin Nano and Raspberry Pi, confirm TakuNet's efficiency, achieving more than 650 fps on the 15W Jetson board, making it suitable for real-time AI processing on resource-constrained platforms and advancing the applicability of drones in emergency scenarios. The code and implementation details are publicly released.
Visual impairment affects the ability of people to live a life like normal people. Such people face challenges in performing activities of daily living, such as reading, writing, traveling and participating in social gatherings. Many traditional approaches are available to help visually impaired people; however, these are limited in obtaining contextually rich environmental information necessary for independent living. In order to overcome this limitation, this paper introduces a novel wearable vision assistance system that has a hat-mounted camera connected to a Raspberry Pi 4 Model B (8GB RAM) with artificial intelligence (AI) technology to deliver real-time feedback to a user through a sound beep mechanism. The key features of this system include a user-friendly procedure for the recognition of new people or objects through a one-click process that allows users to add data on new individuals and objects for later detection, enhancing the accuracy of the recognition over time. The system provides detailed descriptions of objects in the user's environment using a large vision language model (LVLM). In addition, it incorporates a distance sensor that activates a beeping sound using a buzzer as soon as the user is about to collide with an object, helping to ensure safety while navigating their environment. A comprehensive evaluation is carried out to evaluate the proposed AI-based solution against traditional support techniques. Comparative analysis shows that the proposed solution with its innovative combination of hardware and AI (including LVLMs with IoT), is a significant advancement in assistive technology that aims to solve the major issues faced by the community of visually impaired people
We present GazeGen, a user interaction system that generates visual content (images and videos) for locations indicated by the user's eye gaze. GazeGen allows intuitive manipulation of visual content by targeting regions of interest with gaze. Using advanced techniques in object detection and generative AI, GazeGen performs gaze-controlled image adding/deleting, repositioning, and surface style changes of image objects, and converts static images into videos. Central to GazeGen is the DFT Gaze (Distilled and Fine-Tuned Gaze) agent, an ultra-lightweight model with only 281K parameters, performing accurate real-time gaze predictions tailored to individual users' eyes on small edge devices. GazeGen is the first system to combine visual content generation with real-time gaze estimation, made possible exclusively by DFT Gaze. This real-time gaze estimation enables various visual content generation tasks, all controlled by the user's gaze. The input for DFT Gaze is the user's eye images, while the inputs for visual content generation are the user's view and the predicted gaze point from DFT Gaze. To achieve efficient gaze predictions, we derive the small model from a large model (10x larger) via novel knowledge distillation and personal adaptation techniques. We integrate knowledge distillation with a masked autoencoder, developing a compact yet powerful gaze estimation model. This model is further fine-tuned with Adapters, enabling highly accurate and personalized gaze predictions with minimal user input. DFT Gaze ensures low-latency and precise gaze tracking, supporting a wide range of gaze-driven tasks. We validate the performance of DFT Gaze on AEA and OpenEDS2020 benchmarks, demonstrating low angular gaze error and low latency on the edge device (Raspberry Pi 4). Furthermore, we describe applications of GazeGen, illustrating its versatility and effectiveness in various usage scenarios.
Current state-of-the-art residential irrigation systems, such as WaterMyYard, rely on rainfall data from nearby weather stations to adjust irrigation amounts. However, the accuracy of rainfall data is compromised by the limited spatial resolution of rain gauges and the significant variability of hyperlocal rainfall, leading to substantial water waste. To improve irrigation efficiency, we developed a cost-effective irrigation system, dubbed ERIC, which employs machine learning models to estimate rainfall from commodity doorbell camera footage and optimizes irrigation schedules without human intervention. Specifically, we: a) designed novel visual and audio features with lightweight neural network models to infer rainfall from the camera at the edge, preserving user privacy; b) built a complete end-to-end irrigation system on Raspberry Pi 4, costing only \$75. We deployed the system across five locations (collecting over 750 hours of video) with varying backgrounds and light conditions. Comprehensive evaluation validates that ERIC achieves state-of-the-art rainfall estimation performance ($\sim$ 5mm/day), saving 9,112 gallons/month of water, translating to \$28.56/month in utility savings. Data and code are available at https://github.com/LENSS/ERIC-BuildSys2024.git
Since the creation of the Web, recommender systems (RSs) have been an indispensable mechanism in information filtering. State-of-the-art RSs primarily depend on categorical features, which ecoded by embedding vectors, resulting in excessively large embedding tables. To prevent over-parameterized embedding tables from harming scalability, both academia and industry have seen increasing efforts in compressing RS embeddings. However, despite the prosperity of lightweight embedding-based RSs (LERSs), a wide diversity is seen in evaluation protocols, resulting in obstacles when relating LERS performance to real-world usability. Moreover, despite the common goal of lightweight embeddings, LERSs are evaluated with a single choice between the two main recommendation tasks -- collaborative filtering and content-based recommendation. This lack of discussions on cross-task transferability hinders the development of unified, more scalable solutions. Motivated by these issues, this study investigates various LERSs' performance, efficiency, and cross-task transferability via a thorough benchmarking process. Additionally, we propose an efficient embedding compression method using magnitude pruning, which is an easy-to-deploy yet highly competitive baseline that outperforms various complex LERSs. Our study reveals the distinct performance of LERSs across the two tasks, shedding light on their effectiveness and generalizability. To support edge-based recommendations, we tested all LERSs on a Raspberry Pi 4, where the efficiency bottleneck is exposed. Finally, we conclude this paper with critical summaries of LERS performance, model selection suggestions, and underexplored challenges around LERSs for future research. To encourage future research, we publish source codes and artifacts at \href{this link}{https://github.com/chenxing1999/recsys-benchmark}.
The paper focuses on real-time facial expression recognition (FER) systems as an important component in various real-world applications such as social robotics. We investigate two hardware options for the deployment of FER machine learning (ML) models at the edge: neuromorphic hardware versus edge AI accelerators. Our study includes exhaustive experiments providing comparative analyses between the Intel Loihi neuromorphic processor and four distinct edge platforms: Raspberry Pi-4, Intel Neural Compute Stick (NSC), Jetson Nano, and Coral TPU. The results obtained show that Loihi can achieve approximately two orders of magnitude reduction in power dissipation and one order of magnitude energy savings compared to Coral TPU which happens to be the least power-intensive and energy-consuming edge AI accelerator. These reductions in power and energy are achieved while the neuromorphic solution maintains a comparable level of accuracy with the edge accelerators, all within the real-time latency requirements.
Reducing inference time and energy usage while maintaining prediction accuracy has become a significant concern for deep neural networks (DNN) inference on resource-constrained edge devices. To address this problem, we propose a novel approach based on "converting" autoencoder and lightweight DNNs. This improves upon recent work such as early-exiting framework and DNN partitioning. Early-exiting frameworks spend different amounts of computation power for different input data depending upon their complexity. However, they can be inefficient in real-world scenarios that deal with many hard image samples. On the other hand, DNN partitioning algorithms that utilize the computation power of both the cloud and edge devices can be affected by network delays and intermittent connections between the cloud and the edge. We present CBNet, a low-latency and energy-efficient DNN inference framework tailored for edge devices. It utilizes a "converting" autoencoder to efficiently transform hard images into easy ones, which are subsequently processed by a lightweight DNN for inference. To the best of our knowledge, such autoencoder has not been proposed earlier. Our experimental results using three popular image-classification datasets on a Raspberry Pi 4, a Google Cloud instance, and an instance with Nvidia Tesla K80 GPU show that CBNet achieves up to 4.8x speedup in inference latency and 79% reduction in energy usage compared to competing techniques while maintaining similar or higher accuracy.
This work proposes a geographically-based split of the community microgrids into clusters of members that tend to have similar consumption and generation profiles. Assuming a community microgrid divided into clusters, a two-layer architecture is developed to facilitate the greater penetration of distributed energy resources in an efficient way. The first layer, referred as the market layer, is responsible for creating local energy markets with the aim of maximising the economic benefits for community microgrid members. The second layer is responsible for the network reconfiguration, which is based on the energy balance within each cluster. This layer complies with the IEC 61850 communication standard, in order to control commercial sectionalizing and tie switches. This allows the community microgrid network to be reconfigured to minimise energy exchanges with the main grid. To implement this two-layer energy management strategy, an aperiodic market approach based on Blockchain technology, and the additional functionality offered by Smart Contracts is adopted. This embraces the concept of energy communities since it decentralizes the control and eliminates intermediaries. The use of aperiodic control techniques helps to overcome the challenges of using Blockchain technology in terms of storage, computational requirements and member privacy. The scalability and modularity of the Smart Contract-based system allow each cluster of members to be designed by tailoring the system to their specific needs. The implementation of this strategy is based on low-cost off-the-shelf devices, such as Raspberry Pi 4 Model B boards, which operate as Blockchain nodes of community microgrid members. Finally, the strategy has been validated by emulating two use cases based on the IEEE 123-node system network model highlighting the benefits of the proposal.
Quantum computing is an emerging technology on the verge of reshaping industries, while simultaneously challenging existing cryptographic algorithms. FALCON, a recent standard quantum-resistant digital signature, presents a challenging hardware implementation due to its extensive non-integer polynomial operations, necessitating FFT over the ring $\mathbb{Q}[x]/(x^n+1)$. This paper introduces an ultra-low power and compact processor tailored for FFT/IFFT operations over the ring, specifically optimized for FALCON applications on resource-constrained edge devices. The proposed processor incorporates various optimization techniques, including twiddle factor compression and conflict-free scheduling. In an ASIC implementation using a 22 nm GF process, the proposed processor demonstrates an area occupancy of 0.15 mm$^2$ and a power consumption of 12.6 mW at an operating frequency of 167 MHz. Since a hardware implementation of FFT/IFFT over the ring is currently non-existent, the execution time achieved by this processor is compared to the software implementation of FFT/IFFT of FALCON on a Raspberry Pi 4 with Cortex-A72, where the proposed processor achieves a speedup of up to 2.3$\times$. Furthermore, in comparison to dedicated state-of-the-art hardware accelerators for classic FFT, this processor occupies 42\% less area and consumes 83\% less power, on average. This suggests that the proposed hardware design offers a promising solution for implementing FALCON on resource-constrained devices.
The retail sector presents several open and challenging problems that could benefit from advanced pattern recognition and computer vision techniques. One such critical challenge is planogram compliance control. In this study, we propose a complete embedded system to tackle this issue. Our system consists of four key components as image acquisition and transfer via stand-alone embedded camera module, object detection via computer vision and deep learning methods working on single board computers, planogram compliance control method again working on single board computers, and energy harvesting and power management block to accompany the embedded camera modules. The image acquisition and transfer block is implemented on the ESP-EYE camera module. The object detection block is based on YOLOv5 as the deep learning method and local feature extraction. We implement these methods on Raspberry Pi 4, NVIDIA Jetson Orin Nano, and NVIDIA Jetson AGX Orin as single board computers. The planogram compliance control block utilizes sequence alignment through a modified Needleman-Wunsch algorithm. This block is also working along with the object detection block on the same single board computers. The energy harvesting and power management block consists of solar and RF energy harvesting modules with suitable battery pack for operation. We tested the proposed embedded planogram compliance control system on two different datasets to provide valuable insights on its strengths and weaknesses. The results show that our method achieves F1 scores of 0.997 and 1.0 in object detection and planogram compliance control blocks, respectively. Furthermore, we calculated that the complete embedded system can work in stand-alone form up to two years based on battery. This duration can be further extended with the integration of the proposed solar and RF energy harvesting options.
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel and versatile method to compute the attitude of rotational air-bearing platforms using a monocular camera and sets of fiducial markers. The work proposes a geometry-based iterative algorithm that is significantly more accurate than other literature methods that involve the solution of the Perspective-n-Point problem. Additionally, auto-calibration procedures to perform a preliminary estimation of the system parameters are shown. The developed methodology is deployed onto a Raspberry Pi 4 micro-computer and tested with a set of LED markers. Data obtained with this setup are compared against computer simulations of the same system to understand and validate the attitude estimation performances. Simulation results show expected 1-sigma accuracies in the order of $\sim$ 12 arcsec and $\sim$ 37 arcsec for about- and cross-boresight rotations of the platform, and average latency times of 6 ms.
Computer vision has become increasingly prevalent in solving real-world problems across diverse domains, including smart agriculture, fishery, and livestock management. These applications may not require processing many image frames per second, leading practitioners to use single board computers (SBCs). Although many lightweight networks have been developed for mobile/edge devices, they primarily target smartphones with more powerful processors and not SBCs with the low-end CPUs. This paper introduces a CNN-ViT hybrid network called SBCFormer, which achieves high accuracy and fast computation on such low-end CPUs. The hardware constraints of these CPUs make the Transformer's attention mechanism preferable to convolution. However, using attention on low-end CPUs presents a challenge: high-resolution internal feature maps demand excessive computational resources, but reducing their resolution results in the loss of local image details. SBCFormer introduces an architectural design to address this issue. As a result, SBCFormer achieves the highest trade-off between accuracy and speed on a Raspberry Pi 4 Model B with an ARM-Cortex A72 CPU. For the first time, it achieves an ImageNet-1K top-1 accuracy of around 80% at a speed of 1.0 frame/sec on the SBC. Code is available at https://github.com/xyongLu/SBCFormer.