Assistive robots can be found in hospitals and rehabilitation clinics, where they help patients maintain a positive disposition. Our proposed robotic mobility solution combines state of the art hardware and software t...
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Sequence modeling faces challenges in capturing long-range dependencies across diverse tasks. Recent linear and transformer-based forecasters have shown superior performance in time series forecasting. However, they a...
ISBN:
(纸本)9798331314385
Sequence modeling faces challenges in capturing long-range dependencies across diverse tasks. Recent linear and transformer-based forecasters have shown superior performance in time series forecasting. However, they are constrained by their inherent inability to effectively address long-range dependencies in time series data, primarily due to using fixed-size inputs for prediction. Furthermore, they typically sacrifice essential temporal correlation among consecutive training samples by shuffling them into mini-batches. To overcome these limitations, we introduce a fast and effective Spectral Attention mechanism, which preserves temporal correlations among samples and facilitates the handling of long-range information while maintaining the base model structure. Spectral Attention preserves long-period trends through a low-pass filter and facilitates gradient to flow between samples. Spectral Attention can be seamlessly integrated into most sequence models, allowing models with fixed-sized look-back windows to capture longrange dependencies over thousands of steps. Through extensive experiments on 11 real-world time series datasets using 7 recent forecasting models, we consistently demonstrate the efficacy of our Spectral Attention mechanism, achieving state-of-the-art results.
IoT technologies can facilitate machine-to-machine as well as human-to-machine interactions. Use of an automotive human-machine interface can help in exchanging information between vehicles and passengers or drivers. ...
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The rapid advancement of AI has led to the rise of Audio Deepfakes (AD), which pose serious ethical and security concerns by accurately mimicking human speech. This research addresses the urgent need for effective AD ...
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ISBN:
(数字)9798331517601
ISBN:
(纸本)9798331517618
The rapid advancement of AI has led to the rise of Audio Deepfakes (AD), which pose serious ethical and security concerns by accurately mimicking human speech. This research addresses the urgent need for effective AD detection, with a focus on gender bias that can reduce the effectiveness of detection models. We examined how gender affects the performance of both Machine Learning (Support Vector Machine, Random Forest, Logistic Regression, XGBoost) and Deep Learning (Deep Neural Networks, Convolutional Neural Networks) models using the GBAD dataset. Our findings show that models trained on female audio outperform those trained on male audio, likely due to the expressive nature of female voice features and high-pitched artifacts in FAKE audio. This highlights the need for more robust, gender-sensitive detection systems. Future work should focus on developing adaptive models to reduce gender bias, improving security, and creating lightweight models for wider public use.
Robust and reliable place recognition and loop closure detection in agricultural environments is still an open problem. In particular, orchards are a difficult case study due to structural similarity across the entire...
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Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including op...
Transporting payload with precise swing angles and transfer times poses a challenging task in building construction, which is why gantry crane systems are extensively utilized. Various control strategies, including open-loop and closed-loop systems, have been proposed to tackle this issue. However, most of these controllers rely on a model and parameters specific to the crane system, making the process of modeling and parameter identification complex and time-consuming. To address this challenge, this work presents a practical and simulation control method for automatic gantry cranes, which is evaluated simulation and experimentally. The lab-scale Gantry crane is developed in this work, which consists of mechanical and electrical parts. Proportional Integral and Derivative (PID) and Proportional Derivative (PD) controllers which applied optimization method are implemented in the electrical part of the system. The PID and PD controller applied in controlled the position and swing angle, respectively. The Gradient Decent optimization method is the best optimization method in determining the parameter of the controller, since it has the best simulation performance in the output of the system. The experimental result is developed and compared between simulation and lab-scale Gantry crane hardware implementation part. The performance of experimental results is shown appropriately approaching the performance of the simulation result, with the approximately settling time.
This paper proposes an analytical target modifi-cation for linear robust model predictive control strategies in order to deal with time-varying references defined by dynamic signal targets. The new approach can be dir...
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ISBN:
(数字)9798350382655
ISBN:
(纸本)9798350382662
This paper proposes an analytical target modifi-cation for linear robust model predictive control strategies in order to deal with time-varying references defined by dynamic signal targets. The new approach can be directly integrated to linear robust model predictive control algorithms that achieve piecewise constant reference tracking if recursive feasibility is ensured for any set-point. The main contribution is to present a direct analytical approach that provides a potentially improved steady-state tracking error performance with the same computation complexity of the original MPC for tracking piecewise constant reference. A simulation case study based on the trajectory tracking control of a quadrotor is used to illustrate the usefulness of the new analytical target modification layer.
This paper introduces a hybrid control strategy that integrates the unique features of natural logarithm sliding mode control (lnSMC) and fuzzy logic systems. The lnSMC control approach ensures that the vibration ampl...
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ISBN:
(数字)9788993215380
ISBN:
(纸本)9798331517939
This paper introduces a hybrid control strategy that integrates the unique features of natural logarithm sliding mode control (lnSMC) and fuzzy logic systems. The lnSMC control approach ensures that the vibration amplitude remains within a bound, as determined by the parameters of the lnSMC switching function. Furthermore, the fuzzy logic system is employed to approximate the nonlinearities and uncertainties inherent in the suspension system components, such as the spring and damper. The stability of the closed-loop system is analyzed using the Lyapunov stability theorem, guaranteeing convergence within a finite time. To validate the effectiveness of the proposed controller, a simulation study was carried out using a quarter-car suspension model, considering the system’s nonlinearities, parameter uncertainties, and various external disturbances. The results indicate that the proposed controller significantly improves ride comfort while maintaining suspension deflection and road holding within critical safety limits.
An intelligent and self-sufficient robot is essential across a wide range of fields, including transportation, industry, space exploration, and defense. Mobile robots possess the capability to undertake diverse tasks ...
An intelligent and self-sufficient robot is essential across a wide range of fields, including transportation, industry, space exploration, and defense. Mobile robots possess the capability to undertake diverse tasks such as handling materials, aiding in disaster scenarios, conducting patrols, and executing rescue operations. As a result, the development of an autonomous robot that can navigate through both unchanging and ever-changing surroundings has become important. The primary objective of mobile robot navigation revolves around ensuring the seamless and secure traversal of the robot through complex environments, starting from an initial position, and reaching a designated goal position. This paper presents the design and implementation of a Jetson Nano powered robot car which uses local sensors to interact with an unknown environment. Object following, obstacle avoidance, and wall following features are built for the car to navigate to reach its desired destinations.
Emerging heart-on-a-chip platforms are promising approaches to establish cardiac cell/tissue models in vitro for research on cardiac physiology,disease modeling and drug cardiotoxicity as well as for therapeutic *** s...
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Emerging heart-on-a-chip platforms are promising approaches to establish cardiac cell/tissue models in vitro for research on cardiac physiology,disease modeling and drug cardiotoxicity as well as for therapeutic *** still exist in obtaining the complete capability of in situ sensing to fully evaluate the complex functional properties of cardiac cell/tissue *** to contractile strength(contractility)and beating regularity(rhythm)are particularly important to generate accurate,predictive *** new platforms and technologies to assess the contractile functions of in vitro cardiac models is essential to provide information on cell/tissue physiologies,drug-induced inotropic responses,and the mechanisms of cardiac *** this review,we discuss recent advances in biosensing platforms for the measurement of contractile functions of in vitro cardiac models,including single cardiomyocytes,2D monolayers of cardiomyocytes,and 3D cardiac *** characteristics and performance of current platforms are reviewed in terms of sensing principles,measured parameters,performance,cell sources,cell/tissue model configurations,advantages,and *** addition,we highlight applications of these platforms and relevant discoveries in fundamental investigations,drug testing,and disease ***,challenges and future outlooks of heart-on-a-chip platforms for in vitro measurement of cardiac functional properties are discussed.
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