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Null space-based formation control with leader change possibility 19

Null space-based formation control with leader change possib...

引用

19th International Conference on Advanced Robotics, ICAR 2019

作者： Netol, Valentim Ernandes Sarcinelli-Filho, Mario Brandao, Alexandre Santos Núcleo de Especialização em Robótica Federal University of Viçosa Department of Electrical Engineering and Graduate Program on Computer Science Viçosa MG Brazil Graduate Program on Electrical Engineering Federal University of Espírito Santo Vitória - ES Brazil

ISBN: (纸本)9781728124674

This work discusses the implementation and experimentation of a control system designed to guide a multi-robot formation of one aerial and three ground robots, in a trajectory tracking task. The implementation considers three partial formations of two robots, each one associated to a virtual structure, a straight line in the 3D space with its own formation controller. Two of the partial line formations are homogeneous formations of two ground vehicles, and the third one is a heterogeneous formation, involving a ground and an aerial vehicles. All the partial formations have the same reference for position, which is one of the ground vehicles. This also allows to discuss what would happen if this ground vehicle, the reference for all the line formations, and thus for the whole formation, presents a failure, what is considered here, in connection to an escorting mission. The result is that the designed control system is effectively able to accomplish the mission, even upon a failure of the reference robot, what is validated by experimental results also discussed here. © 2019 IEEE.

关键词： Ground vehicles

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Lightweight Pedestrian Detection through Guided Filtering and Deep Learning 10

Lightweight Pedestrian Detection through Guided Filtering an...

引用

10th IEEE Global Conference on Consumer Electronics, GCCE 2021

作者： Muchtar, Kahlil Saddami, Khairun Bintang, Akhyar Cenggoro, Tjeng Wawan Pardamean, Bens Lin, Chih-Yang Ernita, Tia Universitas Syiah Kuala Department of Electrical And Computer Engineering Aceh Indonesia Universitas Syiah Kuala Department of Electrical And Computer Engineering Aceh Indonesia Bina Nusantara University School of Computer Science Bina Nusantara University Bioinformatics And Data Science Research Center Computer Science Department Jakarta Indonesia Bina Nusantara University BINUS Graduate Program-Master of Computer Science Program Bina Nusantara University Bioinformatics And Data Science Research Center Computer Science Department Jakarta Indonesia Yuan-Ze University Department of Electrical And Engineering Taoyuan Taiwan

ISBN: (纸本)9781665436762

In this paper, we propose a novel approach to locate and detect moving pedestrians in a video. Our proposed method first locates the region of interest (ROI) using a background subtraction algorithm based on guided filtering. This novel background subtraction algorithm allows our method to also filter unexpected noises at the same time, which could benefit the performance of our proposed method. Subsequently, the pedestrians are detected using YOLOv3 within the provided ROI. Our experiments showed that the proposed method has a competitive performance in the CDNET2014 dataset with a fast-processing time. © 2021 IEEE.

关键词： Convolutional neural networks

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ConvNeXt Model for Breast Cancer Image Classification 6

ConvNeXt Model for Breast Cancer Image Classification

引用

6th International Conference on Cybernetics and Intelligent System, ICORIS 2024

作者： Setiawan, Devin Karnyoto, Andrea Stevens Intan, Indo Pardamean, Bens Department of Electrical Engineering and Computer Science University of Kansas Lawrence United States Bioinformatics and Data Science Research Center Bina Nusantara University Jakarta Indonesia Department of Informatics Engineering Universitas Dipa Makassar Makassar Indonesia Computer Science Department BINUS Graduate Program Computer Science Program Bina Nusantara University Jakarta Indonesia

ISBN: (纸本)9798331539603

Breast cancer is an occurrence of cancer that attacks breast tissue and is the most common cancer among women worldwide, affecting one in eight women. In this modern world, breast cancer image classification simplifies the process of analyzing, providing objective and accurate results. By leveraging machine learning algorithms and computer vision techniques, we developed breast cancer detection. The dataset is histopathology dataset from BreakHis and UNHAS Hospital. We chose the ConvNeXt-Tiny model then modified the classifier head as the proposed method. Before the dataset is processed by the model, we augment the images by applying random horizontal and vertical flips, adjustments to brightness, contrast, saturation, and hue using color jitter. The augmentation process simulates real-world variance and enhances the model's ability to generalize to unseen data. Our proposed model gained better performance (accuracy, F1-Score) results compared two other techniques to VGG16 and SVM. According to our experiments, the F1-Score for the ConvNeXt-Tiny model with classifier head modification is higher at 0.9516, than the gain for VGG16 at 0.9292, and the gain for the SVM at 0.83. © 2024 IEEE.

关键词： Lung cancer

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NFT-Based Hydroponic Automated Control Using Adaptive Network-Based Fuzzy Inference System 2

NFT-Based Hydroponic Automated Control Using Adaptive Networ...

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2nd International Conference on Robotics, Automation and Artificial Intelligence, RAAI 2022

作者： Surantha, Nico Vincentdo, Vito Bina Nusantara University Binus Graduate Program - Computer Science Jakarta11480 Indonesia Tokyo City University Faculty of Scienc and Engineering Department of Electrical Electronics and Communication Engineering Japan

ISBN: (纸本)9781665459440

The rapid population growth and industrial development in developing countries harm the agricultural sector because many agricultural lands are converted into residential or industrial areas. Applying modern agriculture technologies such as hydroponic could help to overcome the problem. However, hydroponics requires special attention in adjusting the pH and nutrient levels to maximize plant growth, so an automated system is needed to manage the process. In this research, a smart hydroponic system is proposed by applying Adaptive Networkbased Fuzzy Inference System (ANFIS) and Internet-of-Things. The IoT system consists of sensor, actuator, and data processing layer is designed to monitor and control the condition of pH and nutrition of the observed plants. Then, the ANFIS algorithm is designed to control the level of pH and nutrition. The experiment results show that the system can automatically adjust the pH and nutrient levels to the expected range for growing plants, and the fuzzy controller made using ANFIS are more accurate and stable than the fuzzy controller made using Sugeno. This study shows that ANFIS has excellent performance when controlling multiple actuators, as long as the data set has great granularity and well defined. © 2022 IEEE.

关键词： Hydroponics

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Experimental Study of a MISO-VLC using two LED Luminaires

Experimental Study of a MISO-VLC using two LED Luminaires

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IEEE/LEOS International Conference on Optical MEMS

作者： David Esteban Farfán-Guillén Luis Carlos Vieira Alexandre De Almeida Prado Pohl Graduate Program in Electrical and Computer Engineering (CPGEI) Universidade TecnolÓgica Federal do Paraná (UTFPR) Curitiba Brazil

In this work, the multiple-input, single-output (MISO) technique is implemented with OFDM modulation and the variation of the cyclic prefix (CP) is used to optimize the performance of an indoor VLC link, while maintaining the lighting conditions within the recommended levels (300–500 lux). Results show that by increasing the number of luminaires and by selecting the appropriate value of the OFDM cyclic prefix, the system's bit error rate (BER ≤ 10– 3 ) is improved.

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Traffic-Aware Beacon Interval for Position-Based Protocols in VANETs

Traffic-Aware Beacon Interval for Position-Based Protocols i...

引用

IEEE Latin-American Conference on Communications, LATINCOM

作者： Alvaro T. Amaya Alexandre A. P. Pohl Mauro S. Fonseca Ricardo Lüders Graduate Program in Electrical and Computer Engineering (CPGEI) Universidade Tecnológica Federal do Paraná (UTFPR) Curitiba Brazil

Position-based protocols in vehicular ad-hoc networks (VANETs) depend on the transmission of periodic beacon messages to keep the nodes informed about the current position of their neighbors. However, an excessive load of beacons can drastically deteriorate the network performance. This work presents a novel adaptive vehicular traffic-aware strategy to compute the beacon interval in a position-based protocol. The strategy relies on three mobility factors: vehicular density, the mean difference of speed among neighbors, and the spatial distribution of neighbors. Its effectiveness is proven through extensive simulations in an urban mobility scenario using the packet delivery ratio, the average end-to-end delay, overhead, and processing time as the performance metrics. The results show that our approach maintains a high delivery ratio and low End-To-End delay, overhead, and processing time regardless of the density of the surrounding vehicular traffic. The results also show that our method uses the available beacon interval range more efficiently than another traffic-aware approach.

关键词： Measurement Adaptation models Graphical models Computational modeling Collaboration Routing protocols Delays

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Hybrid Cryptography on Wireless Sensor Network: A Systematic Literature Review 3

Hybrid Cryptography on Wireless Sensor Network: A Systematic...

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3rd International Conference on Information Management and Technology, ICIMTech 2018

作者： Gandara, R. Benny Wang, Gunawan Utama, Ditdit Nugeraha Mereu Buana University Master Program of Electrical Engineering Jakarta Indonesia Information Systems Management Department Bina Nusantara University BINUS Graduate Program-Master of Information Systems Management Jakarta11480 Indonesia Computer Science Department Bina Nusantara University BINUS Graduate Program-Master of Computer Science Jakarta11480 Indonesia

ISBN: (纸本)9781538658215

Wireless technology gradual growth in the latest years has facilitated it to bridge its applications operated extensively in many types of industry. Wireless sensor network (WSN) technology brings several benefits over traditional wired technology by reason of the lower cost, immense flexibility escalation, and scalability which is able to be obtained from the old-style one. However, in its application WSN still experience some constraints on resource limitations in the form: processor, memory and energy, and any more challenges that related to availability, reliability and security. Based on its benefits, limitation, and challenges, and also three systematic stages, the review study was performed. The result of study was portrayed in this paper. It is regarding investigation result of hybrid cryptography (HC, as one of defense methods) realized for WSN to methodically increase the security level and decrease the resources usage. The result concluded that HC was proven in escalating the security defense level and downgrading the resources use on WSN compared to symmetric and asymmetric algorithms. © 2018 IEEE.

关键词： Wireless sensor networks

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Haze effect removal from image via haze density estimation in optical model

Haze effect removal from image via haze density estimation i...

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作者： Yeh, Chia-Hung Kang, Li-Wei Lee, Ming-Sui Lin, Cheng-Yang Department of Electrical Engineering National Sun Yat-sen University 804 Taiwan Graduate School of Engineering Science and Technology-Doctoral Program Department of Computer Science and Information Engineering National Yunlin University of Science and Technology Yunlin 640 Taiwan Graduate Institute of Networking and Multimedia Department of Computer Science and Information Engineering National Taiwan University Taipei 106 Taiwan

Images/videos captured from optical devices are usually degraded by turbid media such as haze, smoke, fog, rain and snow. Haze is the most common problem in outdoor scenes because of the atmosphere conditions. This paper proposes a novel single image-based dehazing framework to remove haze artifacts from images, where we propose two novel image priors, called the pixel-based dark channel prior and the pixel-based bright channel prior. Based on the two priors with the haze optical model, we propose to estimate atmospheric light via haze density analysis. We can then estimate transmission map, followed by refining it via the bilateral filter. As a result, high-quality haze-free images can be recovered with lower computational complexity compared with the state-of-the-art approach based on patch-based dark channel prior. ©2013 Optical Society of America.

关键词： Pixels

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GA optimization of OBF TS fuzzy models with linear and non linear local models

GA optimization of OBF TS fuzzy models with linear and non l...

引用

9th Brazilian Symposium on Neural Networks, SBRN'06

作者： Medeiros, Anderson V. Amaral, Wagner C. Campello, Ricardo J. G. B. State University of Campinas School of Electrical and Computer Engineering Campinas SP 13083-970 Brazil Catholic University of Santos Graduate Program in Computer Science Santos SP 11070-906 Brazil

ISBN: (纸本)0769526802

OBF (Orthonormal Basis Function) Fuzzy models have shown to be a promising approach to the areas of nonlinear system identification and control since they exhibit several advantages over those dynamic model topologies usually adopted in the literature. Although encouraging application results have been obtained, no automatic procedure had yet been developed to optimize the design parameters of these models. This paper elaborates on the use of a genetic algorithm (GA) especially designed for this task, in which a fitness function based on the Akaike information criterion plays a key role by considering both model accuracy and parsimony aspects. The use of linear (actually affine) and nonlinear local models is also investigated. The proposed methodology is evaluated in the modeling of a real nonlinear magnetic levitation system. © 2006 IEEE.

关键词： Fuzzy sets

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Analysis of a VLC Link under Lighting Conditions in an Indoor Scenario

Analysis of a VLC Link under Lighting Conditions in an Indoo...

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Conference on Lasers and Electro-Optics (CLEO)

作者： David Esteban Farfán Guillén Fernando César Baraviera Tosta Paulo de Tarso Neves Alexandre de Almeida Prado Pohl Graduate Program in Electrical and Computer Engineering (CPGEI) Universidade Tecnológica Federal do Paraná (UTFPR) Curitiba Brazil

Visible light communication transmits data through light-emitting diodes. In this work a commercial lamp consisting of 7 white LEDs is employed in the demonstration of data transmission, obeying the recommended lighti... 详细信息

ISBN: (纸本)9781943580910

关键词： OFDM Electrooptic modulators Lighting Surface emitting lasers Modulation Lasers and electrooptics Light emitting diodes

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