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Real-Time Implementation of Quadrotor UAV Control System Based on a Deep Reinforcement Learning Approach

computers, Materials & Continua 2024年第12期81卷 4757-4786页

作者： Taha Yacine Trad Kheireddine Choutri Mohand Lagha Souham Meshoul Fouad Khenfri Raouf Fareh Hadil Shaiba Aeronautical Sciences Laboratory Aeronautical and Spatial Studies InstituteBlida 1 UniversityBlida0900Algeria Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh11671Saudi Arabia Energy and Embedded Systems for Transportation Research Department ESTACA-LABMontigny-Le-Bretonneux78066France Department of Electrical Engineering University of SharjahSharjah27272United Arab Emirates Department of Computer Science College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityRiyadh11671Saudi Arabia

The popularity of quadrotor Unmanned Aerial Vehicles(UAVs)stems from their simple propulsion systems and structural ***,their complex and nonlinear dynamic behavior presents a significant challenge for control,necessitating sophisticated algorithms to ensure stability and accuracy in *** strategies have been explored by researchers and control engineers,with learning-based methods like reinforcement learning,deep learning,and neural networks showing promise in enhancing the robustness and adaptability of quadrotor control *** paper investigates a Reinforcement Learning(RL)approach for both high and low-level quadrotor control systems,focusing on attitude stabilization and position tracking tasks.A novel reward function and actor-critic network structures are designed to stimulate high-order observable states,improving the agent’s understanding of the quadrotor’s dynamics and environmental *** address the challenge of RL hyper-parameter tuning,a new framework is introduced that combines Simulated Annealing(SA)with a reinforcement learning algorithm,specifically Simulated Annealing-Twin Delayed Deep Deterministic Policy Gradient(SA-TD3).This approach is evaluated for path-following and stabilization tasks through comparative assessments with two commonly used control methods:Backstepping and Sliding Mode Control(SMC).While the implementation of the well-trained agents exhibited unexpected behavior during real-world testing,a reduced neural network used for altitude control was successfully implemented on a Parrot Mambo mini *** results showcase the potential of the proposed SA-TD3 framework for real-world applications,demonstrating improved stability and precision across various test scenarios and highlighting its feasibility for practical deployment.

关键词： Deep reinforcement learning hyper-parameters optimization path following quadrotor twin delayed deep deterministic policy gradient and simulated annealing

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Quantum-Assisted activation for supervised learning in healthcare-based intrusion detection systems

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第3期5卷 977-984页

作者： Laxminarayana, Nikhil Mishra, Nimish Tiwari, Prayag Garg, Sahil Behera, Bikash K. Farouk, Ahmed Department of Electronics and Communications Engineering Indian Institute of Information Technology West Bengal 741235 India Department of Computer Science and Engineering Indian Institute of Information Technology West Bengal 741235 India Department of Computer Science Aalto University Espoo02150 Finland Ecole de Technologie Superieure MontrealQCH3C 1K3 Canada Pvt. Ltd. WB Mohanpur741246 India Department of Computer Science Faculty of Computers and Artificial Intelligence South Valley University Hurghada83523 Egypt

Intrusion detection systems (IDSs) are amongst the most important automated defense mechanisms in modern industry. It is guarding against many attack vectors, especially in healthcare, where sensitive information (patients medical history, prescriptions, electronic health records, medical bills/debts, and many other sensitive data points) is open to compromise from adversaries. In the big data era, classical machine learning has been applied to train IDS. However, classical IDS tend to be complex: either using several hidden layers susceptible to overfitting on training data or using overly complex architectures such as convolutional neural networks, long-short term memory systems, and recurrent neural networks. This article explored the combination of principles of quantum mechanics and neural networks to train IDS. A hybrid classical-quantum neural architecture is proposed with a quantum-Assisted activation function that successfully captures patterns in the dataset while having less architectural memory footprint than classical solutions. The experimental results are demonstrated on the popular KDD99 dataset while comparing our solution to other classical models. Impact Statement Intrusion detection systems are dynamic defenses against network breach attacks. Lately, machine learning has been leveraged to perform automated intrusion detection. However, classical machine learning needs a large amount of data and overly complex architectures to "learn" patterns from data. In this work, we leverage machine learning concepts to derive a novel quantum activation function that greatly simplifies neural architectural complexity while achieving same level of accuracy and performance. Our architecture is much simpler than state-ofthe-Art based classical systems, simpler to train, and easy to handle. © 2024 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Network architecture

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Edge-Enabled Metaverse:The Convergence of Metaverseand Mobile Edge Computing

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Tsinghua Science and technology 2024年第3期29卷 795-805页

作者： Nyothiri Aung Sahraoui Dhelim Liming Chen Huansheng Ning Luigi Atzori Tahar Kechadi Information Engineering College Xinjiang Institute of EngineeringUrumqi 830023Chinaand also with School of Computer ScienceUniversity College DublinDublinD04 V1W8Ireland School of Computing Ulster UniversityBelfastBT151EDUK School of Computer and Communication Engineering University of Science and Technology BeijingBeijing 100083China Department of Electrical and Electronic Engineering University of CagliariSardinia 09124Italy School of Computer Science University College DublinDublinD04 V1W8Ireland

Metaverse is a virtual environment where users are represented by their avatars to navigate a virtual world having strong links with its physical *** state-of-the-art Metaverse architectures rely on a cloud-based approach for avatar physics emulation and graphics rendering *** current centralized architecture of such systems is unfavorable as it suffers from several drawbacks caused by the long latency of cloud access,such as low-quality *** this end,we propose a Fog-Edge hybrid computing architecture for Metaverse applications that leverage an edge-enabled distributed computing *** applications leverage edge devices’computing power to perform the required computations for heavy tasks,such as collision detection in the virtual universe and high-computational 3D physics in virtual *** computational costs of a Metaverse entity,such as collision detection or physics emulation,are performed at the device of the associated physical *** validate the effectiveness of the proposed architecture,we simulate a distributed social Metaverse *** simulation results show that the proposed architecture can reduce the latency by 50%when compared with cloud-based Metaverse applications.

关键词： industrial Metaverse edge computing Blockchain virtual environment task offloading fog computing

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Exploring Multimodal Framework of Optimized Feature-Based Machine Learning to Revolutionize the Diagnosis of Parkinson’s Disease: AI-Driven Insights

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Biomedical Materials and Devices 2025年 1-20页

作者： Khanom, Fahmida Mostafiz, Rafid Uddin, Khandaker Mohammad Mohi Department of Mathematics American International University-Bangladesh 408/1 Kuratoli Khilkhet Dhaka-1229 Dhaka Bangladesh Institute of Information Technology Noakhali Science and Technology University Noakhali Bangladesh Department of Computer Science and Engineering Southeast University Dhaka China

Parkinson’s disease (PD), a progressive neurodegenerative disorder, poses significant challenges to healthcare systems worldwide due to its increasing prevalence and need for early detection to improve patient outcomes. This study introduces a robust diagnostic framework leveraging a multimodal feature selection approach, combining Minimum Redundancy Maximum Relevance (mRMR) with Recursive Feature Elimination (RFE), to optimize predictive accuracy in detecting PD. Using a dataset of 894 instances from the UCI Machine Learning Repository, the framework implemented comprehensive data preprocessing and feature selection techniques to refine input features. The Extra Trees classifier, integrated with the mRMR-RFE multimodal feature selection method, demonstrated superior performance over nine other machine learning models, achieving a perfect accuracy of 100%, with high specificity, sensitivity, precision, and F1 scores. This framework highlights the efficacy of ensemble learning methods and feature optimization in healthcare, ensuring computational efficiency and high predictive reliability. By addressing the challenges of dimensionality reduction and ensuring precise predictions, the proposed model sets a benchmark for machine learning applications in PD diagnosis. The results emphasize the potential of this framework to facilitate early detection and support clinical decision making, with significant implications for advancing AI-driven healthcare systems. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Extra trees classifier Machine learning Parkinson’s disease Recursive feature elimination (RFE)

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Multiframe weak target track-before-detect based on pseudo-spectrum in mixed coordinates

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Chinese Journal of Aeronautics 2022年第5期35卷 97-113页

作者： Liangliang WANG Gongjian ZHOU Thiagalingam KIRUBARAJAN School of Electronics and Information Engineering Harbin Institute of TechnologyHarbin 150001China Key Laboratory of Marine Environmental Monitoring and Information Processing Ministry of Industry and Information TechnologyHarbin 150001China Department of Electrical and Computer Engineering McMaster UniversityONHamilton L8S 4K1Canada

Traditional multiframe Track-Before-Detect(TBD)may incur adverse integration loss resulting from model mismatch in sensor *** suboptimal integration strategy may cause target envelope *** address these issues,a pseudo-spectrum-based multiframe TBD in mixed coordinates is proposed *** data search for energy integration is conducted based on an accurate model in the x-y plane while target energy is integrated based on pseudo-spectrum in sensor *** algorithm performance is improved since the model mismatch is eliminated,and the pseudo-spectrum based integration facilitates well maintained target *** detailed multiframe integration procedure and theoretical target integrated envelope are ***,to cope with the unknown target velocity,a velocity filter bank based on pseudo-spectrum in mixed coordinates is *** effect of velocity mismatch on algorithm performance is analyzed and an efficient method for filter bank design is ***,a parameter estimation method using characteristics of integrated envelope is presented for improved target polar position and Cartesian velocity ***,numerical results are provided to demonstrate the effectiveness of the proposed method.

关键词： Mixed coordinates Multiframe detection Pseudo-spectrum Track-before-detect Weak target detection

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Graphene oxide-coated microbottle resonators for relative humidity sensing

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Optoelectronics Letters 2024年第7期20卷 400-405页

作者： Huda Adnan Zain Malathy Batumalay Md Ashadi Md Johari Hazli Rafis Abdul Rahim Sulaiman Wadi Harun Department of Electrical Engineering Faculty of EngineeringUniversity of MalayaKuala Lumpur 50603Malaysia Faculty of Data Science and Information Technology INTI International UniversityNilai 71800Malaysia1 Faculty of Electrical and Electronic Engineering Technology Universiti Teknikal Malaysia MelakaMelaka 76100Malaysia Faculty of Electronic and Computer Engineering Universiti Teknikal Malaysia MelakaMelaka 76100Malaysia

Graphene oxide(GO)is a 2D coating material used to improve fiber optics sensors’response to relative *** resonators(MBRs)have garnered more attention as sensing media *** MBR with a 190μm diameter was coated with ***,tapered fiber light coupling was used to investigate the relative humidity sensing performance in the range of 35—70%RH at 25℃.The MBR showed a higher Q factor before and after GO *** sensitivity of 0.115 dB/%RH was recorded with the 190μm GO-coated MBR sample compared to a sensitivity of 0.022 dB/%RH for the uncoated MBR *** results show that the MBR can be used in fiber optic sensing applications for environmental sensing.

关键词： humidity oxide bottle

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Segmentation of CAD models using hybrid representation

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虚拟现实与智能硬件(中英文) 2025年第2期7卷 188-202页

作者： Claude UWIMANA Shengdi ZHOU Limei YANG Zhuqing LI Norbelt MUTAGISHA Edouard NIYONGABO Bin ZHOU State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijing 100191China Peace-Bay Academy of Virtual Reality Shenyang 110004China China Aerospace Systems Engineering Corporation Beijing 100070China Department of Signal and Information Processing Beihang UniversityBeijing 100191China Department of Computer Science University of SherbrookeSherbrooke J1C0A1Canada

In this paper,we introduce an innovative method for computer-aided design(CAD)segmentation by concatenating meshes and CAD *** previous CAD segmentation methods have achieved impressive performance using single representations,such as meshes,CAD,and point ***,existing methods cannot effectively combine different three-dimensional model types for the direct conversion,alignment,and integrity maintenance of geometric and topological ***,we propose an integration approach that combines the geometric accuracy of CAD data with the flexibility of mesh representations,as well as introduce a unique hybrid representation that combines CAD and mesh models to enhance segmentation *** combine these two model types,our hybrid system utilizes advanced-neural-network techniques to convert CAD models into mesh *** complex CAD models,model segmentation is crucial for model retrieval and *** partial retrieval,it aims to segment a complex CAD model into several simple *** first component of our hybrid system involves advanced mesh-labeling algorithms that harness the digitization of CAD properties to mesh *** second component integrates labelled face features for CAD segmentation by leveraging the abundant multisemantic information embedded in CAD *** combination of mesh and CAD not only refines the accuracy of boundary delineation but also provides a comprehensive understanding of the underlying object *** study uses the Fusion 360 Gallery *** results indicate that our hybrid method can segment these models with higher accuracy than other methods that use single representations.

关键词： B-RepNet hybrid segmentation CAD models classification MeshCNN MeshCAD-Net

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Digital-Twin Enabled Time Ahead Resource Allocation for Integrated Fiber-Wireless Connected Vehicular Network

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Journal of Communications and information Networks 2024年第3期9卷 296-308页

作者： Akshita Gupta Saurabh Jaiswal Martin Maier Vivek Ashok Bohara Anand Srivastava Wirocomm Research Group Department of Electronics&Communication EngineeringIndraprastha Institute of Information Technology Delhi(IIITD)New Delhi 110020India Department of Computer Science&Applied Mathematics Indraprastha Institute of Information Technology Delhi(IIITD)New Delhi 110020India Optical Zeitgeist Laboratory Institute National de la Recherche ScientifiqueMontreal H5A 1K6Canada

The digital twin(DT)is envisaged as a catalyst for pioneering ecosystems of service provision within an immersive environment born from the convergence of virtual and physical ***,DT could enhance the performance of edge-intelligent connected vehicular networks by allocating network resources efficiently based on the key performance indicators(KPIs)of vehicular data ***,this work addresses the key challenge of computation and spectrum resource allocation for vehicular *** allocate the optimal resource allocation,we subdivided the problem into:traffic classification,collective learning,and resource allocation *** order to do so,this paper concentrates on two crucial vehicular applications:brake application and lane-change *** utilize a random forest model to collectively learn vehicular data traffic in the upcoming time ***,a time-ahead resource allocation algorithm is proposed to improve the quality of service(QoS)by intelligently offloading vehicular data traffic to a DT-based integrated fiber-wireless(Fi-Wi)connected vehicular *** evaluate the performance of the resource allocation strategy in terms of resources required by the network alongside the packet loss *** was observed that there was a 44.74%increase in cost as the total computation resources increased from F=50 to 100 GHz,whereas the PLR of the network decreased by 71.43%.

关键词： connected vehicles digital twin edgeintelligence fiber-wireless machine learning resource allocation

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Design and Analysis of Quantum Safe Virtual Private Network 4

Design and Analysis of Quantum Safe Virtual Private Network

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4th International Conference on Innovations in computer Science, ICONICS 2024

作者： Saad, Muhammad Ahmed, Waseem Khan, Muhammad Mubashir NED University of Engineering & Technology Department of Computer Science & Information Technology Karachi Pakistan Engineering Department PureSquare FZ LLC Office No: 2001 Nassima Tower Trade Centre 1 Sheikh Zayed Road Dubai United Arab Emirates

ISBN: (纸本)9798331504342

The start of quantum computing poses a significant security threat to the existing Virtual Private Networks that reinforce secure communication on the internet. Quantum computers have the potential to break widely used encryption algorithms, such as RSA and ECC, by efficiently solving complex mathematical problems. Therefore, there is an urgent need to develop and analyze quantum-safe alternatives for Virtual Private Networks. This thesis embarks on a journey of quantum-safe algorithms and how we used to design and implement them to make a quantum-safe VPN environment, aiming to path towards a secure digital future. In this thesis, we have designed a quantum-safe VPN and then analyzed how it works compared to traditional VPNs. We used NIST's algorithms: Dilithium3 for digital signatures. © 2024 IEEE.

关键词： Quantum computers

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Deep Learning-based Source Code Classification and Visualization of Decision Rationales 28th

Deep Learning-based Source Code Classification and Visualiza...

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28th International Conference on Knowledge Based and Intelligent information and engineering Systems, KES 2024

作者： Oeda, Shinichi Mitsumori, Seiya Department of Information and Computer Engineering National Institute of Technology Kisarazu College 11-1 Kiyomidaihigashi 2-chome Kisarazu City Chiba Japan Advanced Course of Control and Information Engineering National Institute of Technology Kisarazu College 11-1 Kiyomidaihigashi 2-chome Kisarazu City Chiba Japan

In programming education, it is crucial to provide instruction that is tailored to students' proficiency levels. For this purpose, an objective evaluation of each student's coding ability is essential. Additionally, it is necessary to understand the characteristics of source code written by both beginners and advanced students. Previous research has successfully converted the structural information of source code into graphs and assessed coding skills using deep learning, achieving high accuracy. However, it remains unclear which specific structural elements significantly influence these assessments. This study addresses this gap by transforming source code into abstract syntax trees and developing a model that uses Graph Convolutional Networks to categorize code as either beginner or advanced users based on learned structural information. Furthermore, we apply Integrated Gradients to visualize the decision-making basis of our model and elucidate the structural characteristics distinguishing source code written by beginner and advanced users. © 2024 The Authors.

关键词： Adversarial machine learning

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