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Single-Stage Grasping Algorithm for the Manipulator based on Rotational Gaussian Encoding 13

Single-Stage Grasping Algorithm for the Manipulator Based on...

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13th IEEE international conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Liu, Zhenghao Liu, Yizhe Yang, Guowei Chen, Dongyue Jia, Tong College of Information Science and Engineering Northeastern University Shenyang China Foshan Graduate School of Innovation Northeastern University China Northeastern University Key Laboratory of Data Analytics and Optimization for Smart Industry Ministry of Education China

ISBN: (纸本)9798350315196

As we all know, there is an unsolved problem for robots to accurately and quickly grasp unknown objects in an unstructured environment. In order to describe the pose information of objects more accurately, a rotational Gaussian encoding method is proposed in this paper. Different from the traditional 2-D Gaussian encoding to represent ground-truth, this method introduces rotation information based on 2-D Gaussian. Grasping is made more accurate and robust by treating the grasp pose as a rotating bounding box in the image plane. In addition, a balanced loss function is introduced in this paper. This loss function not only solves the problem of positive and negative sample imbalance in the traditional cross-entropy loss but also reduces the penalty of points around the Gaussian center location. In this paper, a pixel-level single-stage grasping algorithm is designed in an end-to-end manner without the intermediate process of using anchor points, which saves time and improves the accuracy of grasping simultaneously. Then, the proposed model in this paper is evaluated on two standard datasets, Cornell Dataset and Jacquard Dataset, achieving 96.8% and 94.7% accuracy, respectively. Finally, we use a 6 DoF UR5e robotic arm for real-world grasping experiments. The success rate of single-object grasping is 94.7% and the time to generate the grasp frame is 8 ms. Experiments demonstrat that the algorithm is equally effective in real-world environments and has a faster detection time. © 2023 IEEE.

关键词： signal encoding

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21st international conference on Next Generation Teletraffic and Wired/Wireless Advanced Networks and systems, NEW2AN 2021 and 14th conference on internet of Things and Smart Spaces, ruSMART 2021

21st International Conference on Next Generation Teletraffic...

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21st international conference on Next Generation Teletraffic and Wired/Wireless Advanced Networks and systems, NEW2AN 2021 and 14th conference on internet of Things and Smart Spaces, ruSMART 2021

ISBN: (纸本)9783030977764

The proceedings contain 41 papers. The special focus in this conference is on Next Generation Teletraffic and Wired/Wireless Advanced Networks and systems. The topics include: The Challenges with internet of Things Security for Business;Using a Machine Learning Model for Malicious URL Type Detection;network Slice Degradation Probability as a Metric for Defining Slice Performance Isolation;Geometrical Approach to the Plane Tessellation in the IEEE 802.11 Networks Channel Planning;Heuristic Design Algorithm for Scheduling of URLLC and eMBB Traffics in 5G Cellular Networks;Application of Neural Network to Demodulate SEFDM signals;the Effect of Error Burst When Using a Decision Feedback Algorithm for Receiving Non-orthogonal Multi-frequency signals;instantaneous Interference Evaluation Model for Smart Antennas in 5G Ultra-Dense Networks;selecting a Receiver for Wideband Spectrum Sensing in Cognitive Radio systems based on an Assessment of the signal Environment Complexity;smart Contract Enabled Decentralized Reputation System for E-Commerce Reviews;Analysis of Nonlinear Distortions of FTN signals Transmitted Through TWT Amplifier;Application of Wavelet Transform for ECG Processing;investigation Methods of Dehydrated Protein Films for Biomolecular Electronics;Predicting Energy Consumption for UAV-Enabled MEC Using Machine Learning Algorithm;Deep Learning Approach for Predicting Energy Consumption of Drones based on MEC;Simulation and Experimental Study of Multi-source Application Layer ARQ for FANET;fiber-Optic Recirculating Memory Loop for Wideband Microwave signal;on Smart Greenhouse Issues;structural Shifts on Derivatives Markets at the Time of Increasing Digitalization and Post-pandemic Transformation of the Market;specifics of Forming an Innovation Sector When Developing Industry 4.0 technology;preface.

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Research on Integrated Waveform technology for Radar and Communication

Research on Integrated Waveform Technology for Radar and Com...

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IEEE international conference on signal and image Processing (ICSIP)

作者： YanPing Liu Hai Wu The 723 Institute of CSIC Yangzhou Jiangsu China

ISBN: (数字)9798350350920

ISBN: (纸本)9798350350937

For a long time, radar and communication systems have been strictly distinguished and developed independently and vertically. While significant progress has been made in their respective fields, the types and models of equipment are increasing day by day. However, the independent development of equipment has led to the waste of time, spectrum, and energy resources of electromagnetic signals. based on the characteristics and similarities of radar systems and communication systems, integrated waveform design is particularly important in solving resource conflicts. In the integrated waveform design of radar and communication, two main methods are considered: multiplexing waveform and sharing waveform. This article conducts simulation analysis on the performance and feasibility of radar and communication integrated waveform sharing, which can provide a certain reference for the engineering practice of radar and communication integrated waveform design.

关键词： Multiplexing image coding Chirp modulation Communication systems Energy resources Radar Radar imaging

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Fog computing based Distributed Denial of Service Attack Detection Method for Large-Scale internet of Things

Fog computing based Distributed Denial of Service Attack Det...

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international conference on signal Processing and Integrated Networks (SPIN)

作者： S Prabavathy I.Ravi Prakash Reddy Information Technology G.Narayanamma Institute of Technology and Science(For Women)

internet of Things (IoT) is encroaching in every aspect of our lives. The exponential increase in connected devices has massively increased the attack surface in IoT. The unprotected IoT devices are not only the target for attackers but also used as attack generating elements. The Distributed Denial of Service (DDoS) attacks generated using the geographically distributed unprotected IoT devices as botnet pose a serious threat to IoT. The large-scale DDoS attacks may arise through multiple low-rate DDoS attacks from geographically distributed, compromised IoT devices. This kind of DDoS attacks are difficult to detect with the existing security mechanisms because of the large-scale distributed nature of IoT. The proposed method provides solution to this problem using Fog computing containing fog nodes which are closer to edge IoT devices. The distributed fog nodes detects the low-rate DDoS attacks from IoT devices before it leads to largescale DDoS attack. The effectiveness analysis of the proposed method proves that the real time detection is practical. The experimental results depicts that the lowrate DDoS attacks are detected at faster rate in fog nodes, hence the large-scale DDoS attacks are detected at early stage to protect from massive attack.

关键词： Correlation image edge detection signal processing Denial-of-service attack Real-time systems internet of Things Security

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Digital Case image Compression Algorithm based on Deep Learning

Digital Case Image Compression Algorithm based on Deep Learn...

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Intelligent Algorithms for Computational Intelligence systems (IACIS), international conference on

作者： Benfeng Yu College of Literature Bohai University Jinzhou China

ISBN: (数字)9798350360660

ISBN: (纸本)9798350360677

The result of deep learning lies in the acquisition of learners' depth of knowledge, which is mainly reflected in the development of higher-order thinking ability and the achievement of higher-order cognitive goals. With the vigorous development of deep learning, people begin to try to use deep learning technology to break through the bottleneck of traditional image compression methods. based on previous research results, this paper constructs a digital case image compression algorithm model based on deep learning, focusing on network training, quantization module and compression process. The mathematical formula of quality evaluation index of digital case image compression algorithm is derived, including PSNR, SSIM and MS-SSIM. JEPG algorithm and deep learning algorithm are compared and analyzed to illustrate the advantages of deep learning algorithm in the field of image compression. The experimental results show that the deep learning algorithm has obvious advantages in both subjective and objective evaluation.

关键词： Deep learning Training Productivity Technological innovation image coding Quantization (signal) Education Reflection Mathematical models Optimization

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A Novel image Quality Assessment Method for Dehazed image 7

A Novel Image Quality Assessment Method for Dehazed Image

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7th international conference on Computer and Communication systems, ICCCS 2022

作者： Wei, Shuang Zhou, Hao Fu, Yiran Shang, Xinna Jing, Hongyuan Union University College of Robotics Beijing Beijing China Beijing Union University Multi-Agent System Research Centre Beijing China Beijing Union University Beijing Key Laboratory of Information Service Engineering Beijing China

ISBN: (数字)9781665450607

ISBN: (纸本)9781665450607

In order to measure the effectiveness of dehazing algorithm, we need an objective and fair defogging quality evaluation algorithm to evaluate the effect of image defogging. image quality is an important metric to compare the performance of defogging algorithms and optimize system parameters. At present, image Quality Assessment (IQA) methods can be divided into subjective evaluation method and objective evaluation method. In view of the extensive application of Structure Similarity Index Measure (SSIM) and Peak-signal to Noise Ratio (PSNR) in objective evaluation methods, this paper designed a questionnaire and published it on the internet to discuss the relationship between SSIM and PSNR and study their relationship with subjective quality evaluation methods. We collected 88 volunteers from all walks of life and invited them to fill out a questionnaire designed by us. In addition, this paper also proposes a new subjective evaluation method. Inspired by the dual-stimulus loss classification method, we design a new scoring mechanism. The results show that SSIM and PSNR have high correlation, and the degree of their linear correlation fusion is different from subjective evaluation method. © 2022 IEEE.

关键词： image quality

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Smart Passive Islanding Detection Technique based on Time-varying Kalman Algorithm

Smart Passive Islanding Detection Technique based on Time-va...

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Smart Power & internet Energy systems (SPIES), international conference on

作者： Huma Umber Naz Muhammad Zubair Iftikhar Faisal Mumtaz Kashif Imran Syed Junaid Iqbal USPCAS-E National University of Sciences and Technology (NUST) Islamabad Pakistan

ISBN: (数字)9798350368864

ISBN: (纸本)9798350368871

In the modern world, renewable energy-based distributed generations (REBDGs) pose many challenges. Islanding detection is one of the major problems associated with REBDGs. This paper proposes a new passive Islanding detection technique using the Time-varying Kalman Filter (TVKF) algorithm. Initially, the TVKF algorithm is applied for the state estimation of the 3-phase voltage signal at PCC. Furthermore, the Squared Sum of Voltage (SSV) is calculated as an index for islanding detection. However, the islanding event is detected when the SSV is less than the pre-defined threshold value. A standard IEEE-13 bus test system is implemented in MATLAB/Simulink for analyzing the performance of the proposed technique. It is cost-effective & results validate the accuracy and efficiency of the scheme without any non-detection zone (NDZ).

关键词： Renewable energy sources Accuracy Distributed power generation internet Kalman filters Indexes State estimation MATLAB Time-varying systems Standards

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Event-based Adaptive Intelligent Control for LSSs with Time-Varying Output Constraints

Event-Based Adaptive Intelligent Control for LSSs with Time-...

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international conference on Vision, image and signal Processing (ICVISP)

作者： Linchuang Zhang Liang Cao Computer Science and Technology Bohai University Jinzhou China College of Mathematical Sciences Bohai University Jinzhou China

ISBN: (数字)9798331541460

ISBN: (纸本)9798331541477

This paper explores a decentralized adaptive intelligent control problem for large-scale systems in nonstrict-feedback structure with external disturbances and time-varying output constraints. An effective event-triggered strategy is utilized to reduce the number of messages to be transmitted. Furthermore, an asymmetric time-varying barrier Lyapunov function is adopted to handle the problem of time-varying output constraints of nonlinear LSSs. Using Lyapunov stability theory, an adaptive neural network compensation controller with a first-order sliding-mode differentiator is developed to avoid the issues of unknown disturbances and “explosion of complexity”. The developed control strategy assures that all signals are bounded. Finally, some simulation results indicate the validity of the developed control protocol.

关键词： Adaptive systems Protocols Event detection Simulation signal processing Stability analysis Large-scale systems Time-varying systems Lyapunov methods Intelligent control

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image Encryption Algorithm based on A Novel 5D Chaotic System 8

Image Encryption Algorithm based on A Novel 5D Chaotic Syste...

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8th international conference on Contemporary Information technology and Mathematics, ICCITM 2022

作者： Ahmed, Sarah S. Mehdi, Sadiq A. University of Mustansiriyah College of Education Department of Computer Science Baghdad Iraq

ISBN: (纸本)9798350334869

The rapid advancement of computer and digital connections, as well as the increasing popularity of internet communication, led to an increase in the demand for secure data sharing. For a fast and efficient color image encryption technique a novel five-dimensional hyperchaotic system proposed in this research has traits like increased sensitivity to primary factors and conditions. As well as has two Lyapunov exponents that are positive demonstrate that the proposed system is hyperchaotic, add a new method was presented based on a hyperchaotic system to structure a color image cryptosystem to improve data security. In this proposed method, there are two stages. In the initial stages, the pixel locations of an image are confused in the permutation step by a chaotic sequence created, secondly, substitution stage, Using the XOR operation, between the pixel value of the image from the previous step with a pseudo-random number sequence (key2) created from the system proposed. The proposed algorithm was evaluated using Evaluation measures such as key space, key sensitivity, histogram, information entropy, unified average change intensity (UACI), and several pixel changes rates (NPCR). The proposed system's efficiency and security it demonstrated by experimental results and performance evaluations, correlation coefficient values are acquired as-0.0003, 0.0075, and 0.0018 for H, V, and D directions, respectively. The entropy value is 7.9974 bits. The mean UACI and NPCR values are determined to be 33.4635% and 99.7061%, respectively. results showed that the suggested system's properties are robust to various attacks. © 2022 IEEE.

关键词： Chaotic systems

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Map Coverage of LoRaWAN signal's Employing GPS from Mobile Devices 2nd

Map Coverage of LoRaWAN Signal's Employing GPS from Mobile D...

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2nd international conference on Optimization, Learning Algorithms and Applications (OL2A)

作者： Brito, Thadeu Mendes, Joao Zorawski, Matheus Azevedo, Beatriz Flamia Khalifeh, Ala Fernandes, Florbela P. Pereira, Ana I. Lima, Jose Costa, Paulo Inst Politecn Braganca Res Ctr Digitalizat & Intelligent Robot CeDRI Campus Santa Apolonia P-5300253 Braganca Portugal Univ Porto Fac Engn Porto Portugal INESC TEC INESC Technol & Sci Porto Portugal Univ Minho Algoritmi Res Ctr Guimaraes Portugal German Jordanian Univ Amman Jordan

ISBN: (纸本)9783031232350;9783031232367

Forests are remote areas with uneven terrain, so it is costly to map the range of signals that enable the implementation of systems based on wireless and long-distance communication. Even so, the interest in internet of Things (IoT) functionalities for forest monitoring systems has increasingly attracted the attention of several researchers. This work demonstrates the development of a platform that uses the GPS technology of mobile devices to map the signals of a LoRaWAN Gateway. Therefore, the proposed system is based on concatenating two messages to optimize the LoRaWAN transmission using the Global Position System (GPS) data from a mobile device. With the proposed approach, it is possible to guarantee the data transmission when finding the ideal places to fix nodes regarding the coverage of LoRaWAN because the Gateway bandwidth will not be fulfilled. The tests indicate that different changes in the relief and large bodies drastically affect the signal provided by the Gateway. This work demonstrates that mapping the Gateway's signal is essential to attach modules in the forest, agriculture zones, or even smart cities.

关键词： internet of Things Map coverage LoRaWAN GPS tracking signal quality

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