检索结果-内蒙古大学图书馆

2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Huang, Wen Gu, Yanmei Wang, Zhiming Zhu, Huijia Qian, Yanmin Auditory Cognition and Computational Acoustics Lab MoE Key Lab of Artificial Intelligence AI Institute Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai China SJTU Paris Elite Institute of Technology Shanghai China Ant Group Shanghai China

ISBN: (纸本)9798350368741

Advances in speech synthesis technologies, like text-to-speech (TTS) and voice conversion (VC), have made detecting deepfake speech increasingly challenging. Spoofing countermeasures often struggle to generalize effectively, particularly when faced with unseen attacks. To address this, we propose a novel strategy that integrates Latent Space Refinement (LSR) and Latent Space Augmentation (LSA) to improve the generalization of deepfake detection systems. LSR introduces multiple learnable prototypes for the spoof class, refining the latent space to better capture the intricate variations within spoofed data. LSA further diversifies spoofed data representations by applying augmentation techniques directly in the latent space, enabling the model to learn a broader range of spoofing patterns. We evaluated our approach on four representative datasets, i.e. ASVspoof 2019 LA, ASVspoof 2021 LA and DF, and In-The-Wild. The results show that LSR and LSA perform well individually, and their integration achieves competitive results, matching or surpassing current state-of-the-art methods. © 2025 IEEE.

关键词： anti-spoofing audio deepfake detection generalization

来源：评论

学校读者我要写书评

暂无评论

dVRK-Si: The Next Generation da Vinci Research Kit

dVRK-Si: The Next Generation da Vinci Research Kit

引用

International Symposium on Medical robotics (ISMR)

作者： Keshuai Xu Jie Ying Wu Anton Deguet Peter Kazanzides Department of Computer Science Johns Hopkins University Baltimore MD USA Laboratory for Computational Sensing and Robotics (LCSR) Johns Hopkins University Baltimore MD USA Department of Computer Science Vanderbilt Institute for Surgery and Engineering Vanderbilt University Nashville TN USA

ISBN: (数字)9798331599003

ISBN: (纸本)9798331599010

The da Vinci Research Kit (dVRK) is an opensource and open-hardware surgical robotics research platform that provides complete access to all levels of control on decommissioned da Vinci Surgical Systems. The original dVRK, released to the research community in 2012 and now installed at more than 40 institutions worldwide, is based on the first-generation da Vinci system released in 2000. In this work, we present dVRK-Si, an update that extends support to decommissioned second/third generation da Vinci S/Si patientside robots. We describe extensions to the system architecture that maintain compatibility and interoperability with the original dVRK system, thereby enabling a heterogeneous mix of dVRK and dVRK-Si arms in the same system. Additionally, we describe the following components specific to the dVRK-Si: (1) a new controller that features 10 channels of PWM motor drivers with digital current loops; (2) alternative (closed-source) firmwares for embedded devices in the robot arm that stream serialized sensor data using an open protocol; and (3) electronics to support the passive Setup Joints included in full systems. All electronics designs, software, and firmware (except as noted above) are provided open source to the community.

关键词： Medical robotics Systems architecture Arms Pulse width modulation Robot sensing systems Motors Manipulators Software Interoperability Microprogramming

来源：评论

学校读者我要写书评

暂无评论

Model Predictive Path Integral Control of I2RIS Robot Using RBF Identifier and Extended Kalman Filter

arXiv

引用

arXiv 2025年

作者： Esfandiari, Mojtaba Du, Pengyuan Wei, Haochen Gehlbach, Peter Munawar, Adnan Kazanzides, Peter Iordachita, Iulian Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States Department of Computer Science Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States Wilmer Eye Institute Johns Hopkins Hospital BaltimoreMD21287 United States

Modeling and controlling cable-driven snake robots is a challenging problem due to nonlinear mechanical properties such as hysteresis, variable stiffness, and unknown friction between the actuation cables and the robot body. This challenge is more significant for snake robots in ophthalmic surgery applications, such as the Improved Integrated Robotic Intraocular Snake (I2RIS), given its small size and lack of embedded sensory feedback. Data-driven models take advantage of global function approximations, reducing complicated analytical models’ challenge and computational costs. However, their performance might deteriorate in case of new data unseen in the training phase. Therefore, adding an adaptation mechanism might improve these models’ performance during snake robots’ interactions with unknown environments. In this work, we applied a model predictive path integral (MPPI) controller on a data-driven model of the I2RIS based on the Gaussian mixture model (GMM) and Gaussian mixture regression (GMR). To analyze the performance of the MPPI in unseen robot-tissue interaction situations, unknown external disturbances and environmental loads are simulated and added to the GMM-GMR model. These uncertainties of the robot model are then identified online using a radial basis function (RBF) whose weights are updated using an extended Kalman filter (EKF). Simulation results demonstrated the robustness of the optimal control solutions of the MPPI algorithm and its computational superiority over a conventional model predictive control (MPC) algorithm. © 2025, CC BY.

关键词： Extended Kalman filters

来源：评论

学校读者我要写书评

暂无评论

Integrating Function and Connection: Two Perspectives to Telepresence Robot Design for Classroom 25

Integrating Function and Connection: Two Perspectives to Tel...

引用

2025 ACM International Conference on Supporting Group Work, GROUP Companion 2025

作者： Berhane, Roda Akiode, Deo Adejoke Joshi, Swapna Elmimouni, Houda School of Informatics Computing and Engineering Indiana University BloomingtonIN United States Field Robotics Lab Northeastern University BostonMA United States Department of Computer Science University of Manitoba WinnipegMB Canada Information Systems and New Media University of Siegen Siegen Germany

ISBN: (纸本)9798400711879

This study explores robotic telepresence in classrooms, from the perspectives of both the remote students (operators) and their in-person classmates. Analyzing a subset of field study data from 35 participants (22 operators, 13 classmates), we identified differing priorities: operators of the robot emphasize the need for improved functional aspects like camera control, while co-present classmates value social presence, interaction and identification, advocating for features like personalization and effective communication channels. These insights underline the need for telepresence robots that balance functional efficacy with social integration to provide a holistic educational experience. This work, though incomplete, enriches Group and CSCW literature on telepresence robots to facilitate collaborative interactions by highlighting the distinct needs of remote and in-person students, proposing design recommendations for telepresence robots that are technically proficient and socially responsive. © 2025 Copyright held by the owner/author(s).

关键词： Students

来源：评论

学校读者我要写书评

暂无评论

Explorative Study on Motor Interference During Synchronous Human and Robot Arm Movements Under Varied Presence of a Robot Head

Explorative Study on Motor Interference During Synchronous H...

引用

IEEE International Conference on robotics and Biomimetics

作者： Mertcan Kaya Kolja Kühnlenz Robotics Research Lab Department of Electrical Engineering and Computer Science Coburg University of Applied Sciences and Arts Coburg Germany

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper investigates the influence of a static robot head on deviations of human hand movements from task direction (motor interference) during simultaneous human and robot arm movements using a collaborative robot arm. Synchronous vertical and horizontal human and robot arm movements are conducted in all combinations (within-subjects factors direction and congruency). The presence of the head (head/ no head) is varied as a between-subjects factor. In this first step, only its motionless presence is deliberately focused at, in order to exclude contributions by eye- or head-movement behavior or facial expressions being difficult variables to generalize from. Participants' hands are tracked optically marker-based and deviations from task-related vertical, respectively, horizontal movements are evaluated. In contrast to expectations, results do not show a significant impact of the robot head on motor interference. Thus, there is evidence, that appearance might not be an activating factor for motor interference in HRI.

关键词： Hands Tracking Neurons Humanoid robots Morphology Interference Motors Manipulators Mirrors Robots

来源：评论

学校读者我要写书评

暂无评论

Design and Implementation of an On-Board System for a Spider Robot 1st

Design and Implementation of an On-Board System for a Spider...

引用

1st International Conference on Computing and Emerging Technologies, ICCET 2023

作者： Nauman, Nasir Mustafa, Hirra Ashraf, Abrar Khalil, Hisham Department of Computer Science Superior University Lahore Pakistan Department of Computer Science Sharif College of Engineering and Technology Lahore Lahore Pakistan Embedded System and Robotics Lab Department of Technology The University of Lahore Lahore Pakistan

ISBN: (纸本)9783031776199

This paper presents the design of a system onboard spider robot for rescue services. The spider has the six-leg walking pattern that contains the total number of 18 servo motors. In order to reduce the payload, the abdomen of the spider is made with RF4 printed circuit board (PCB). Whereas, the abdomen is also used as the main structure of the robot to attach the rest of the system. Wherein, two pulse-width modulations (PWM) module are controlled by Arduino Nano, the Bluetooth module is used for communication link and bulk converter for the power supply. The spider robot is operated with an in-house developed Android application. It has been observed that the spider robot has a stable walking response along with the multiple excise performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Machine design

来源：评论

学校读者我要写书评

暂无评论

Fast multiplication of random dense matrices with sparse matrices

Fast multiplication of random dense matrices with sparse mat...

引用

International Symposium on Parallel and Distributed Processing (IPDPS)

作者： Tianyu Liang Riley Murray Aydın Buluç James Demmel Electrical Engineering and Computer Science Department UC Berkeley Computational Research Division Lawrence Berkeley National Lab International Computer Science Institute Sandia National Laboratories

ISBN: (数字)9798350387117

ISBN: (纸本)9798350387124

This work focuses on accelerating the multiplication of a dense random matrix with a (fixed) sparse matrix, which is frequently used in sketching algorithms. We develop a novel scheme that takes advantage of blocking and recomputation (on-the-fly random number generation) to accelerate this operation. The techniques we propose decrease memory movement, thereby increasing the algorithm’s parallel scalability in shared memory architectures. On the Intel Frontera architecture, our algorithm can achieve 2x speedups over libraries such as Eigen and Intel MKL on some examples. In addition, with 32 threads, we can obtain a parallel efficiency of up to 45%.We also present a theoretical analysis for the memory movement lower bound of our algorithm, showing that under mild assumptions, it’s possible to beat the data movement lower bound of general matrix-matrix multiply (GEMM) by a factor of M, where M is the cache size. Finally, we incorporate our sketching method into a randomized algorithm for overdetermined least squares with sparse data matrices. Our results are competitive with SuiteSparse for highly overdetermined problems; in some cases, we obtain a speedup of 10x over SuiteSparse.

关键词： Distributed processing Scalability Instruction sets Memory management Memory architecture Libraries Sparse matrices

来源：评论

学校读者我要写书评

暂无评论

Preference detection of the humanoid robot face based on EEG and eye movement

引用

Neural Computing and Applications 2024年第19期36卷 11603-11621页

作者： Wang, Pengchao Mu, Wei Zhan, Gege Wang, Aiping Song, Zuoting Fang, Tao Zhang, Xueze Wang, Junkongshuai Niu, Lan Bin, Jianxiong Zhang, Lihua Jia, Jie Kang, Xiaoyang Laboratory for Neural Interface and Brain Computer Interface Engineering Research Center of AI and Robotics Ministry of Education Shanghai Engineering Research Center of AI and Robotics MOE Frontiers Center for Brain Science State Key Laboratory of Medical Neurobiology Institute of AI and Robotics Academy for Engineering and Technology Fudan University Shanghai200433 China Ji Hua Laboratory Guangdong Province Foshan528200 China Department of Rehabilitation Medicine Huashan Hospital Fudan University Shanghai200040 China Yiwu Research Institute of Fudan University Zhejiang Yiwu322000 China Research Center for Intelligent Sensing Zhejiang Lab Hangzhou311121 China

The face of a humanoid robot can affect the user experience, and the detection of face preference is particularly important. Preference detection belongs to a branch of emotion recognition that has received much attention from researchers. Most of the previous preference detection studies have been conducted based on a single modality. In this paper, we detect face preferences of humanoid robots based on electroencephalogram (EEG) signals and eye movement signals for single modality, canonical correlation analysis fusion modality, and bimodal deep autoencoder (BDAE) fusion modality, respectively. We validated the theory of frontal asymmetry by analyzing the preference patterns of EEG and found that participants had higher alpha wave energy for preference faces. In addition, hidden preferences extracted by EEG signals were better classified than preferences from participants' subjective feedback, and also, the classification performance of eye movement data was improved. Finally, experimental results showed that BDAE multimodal fusion using frontal alpha and beta power spectral densities and eye movement information as features performed best, with the highest average accuracy of 83.13% for the SVM and 71.09% for the KNN. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Electroencephalography

来源：评论

学校读者我要写书评

暂无评论

Mining Railway Grievances on Twitter for Efficient E-Governance in India

Mining Railway Grievances on Twitter for Efficient E-Governa...

引用

2022 IEEE International Conference on Big Data, Big Data 2022

作者： Agarwal, Swati Kumar, Ashrut Ganguly, Rijul Bits Pilani K K Birla Goa Campus Computational Linguistics and Social Networks Lab Department of Computer Science and Information Systems Goa India

ISBN: (纸本)9781665480451

Recently, Twitter has been used as a citizen-engaging platform by Indian Railway Ministry (IRM) for collecting civic issues. However, due to the manual inspection model, a large percentage of complaints are left unaddressed affecting the credibility of the citizen-sourcing mediums. The existing solutions are for English reports and unable to capture the diverse range of code-mixed languages used in the complaints. In this paper, we developed a multilingual cased version of BERT (mBERT) for automated identification of monolingual and multilingual (aka code- mixed) complaints. The proposed mBERT is a transformers- based model pre-trained on multilingual Wikipedia corpus. In addition to the grievances classification, we also employ a BERT multi-label classifier for labelling the tweets with the issues reported in the complaints. The proposed solution approach obtains an accuracy of 82% with the binary classifier and overall accuracy of 95% with the multi-label model. Additionally, a critical analysis is presented on the classified reports and a location-based analysis to visualise the velocity and veracity of complaints across India. © 2022 IEEE.

关键词： Classification (of information)

来源：评论

学校读者我要写书评

暂无评论

Enabling Reachability Across Multiple Domains Without Controller Synchronization in SDN

引用

computers, Materials & Continua 2021年第10期69卷 945-965页

作者： Nauman Khan Rosli Bin Salleh Ihsan Ali Zahid Khan Noman Mazhar Roobaea Alroobaea Fahad Almansour Usman Ali Department of Computer System and Technology Faculty of Computer Science and Information TechnologyUniversity of MalayaMalaysia Department of Computer Science and IT University of MalakandPakistan Robotics and Internet-of-Things Lab Prince Sultan UniversityRiyadhSaudi Arabia Department of Computer Science College of Computers and Information TechnologyTaif UniversityTaif21944Saudi Arabia Department of Computer Science College of Sciences and Arts RassQassim UniversityBuraydah51452Saudi Arabia

Software-defined networking(SDN)makes network agile and flexible due to its programmable *** extensive network has multiple domains in SDN for the scalability and performance of the ***,the inter-domain link is also crucial for the stability of the entire network on the data plane *** than one inter-domain connection enhances the scalability of the data plane ***,it faces a reachability problem with the principal root,which causes forwarding loops and packet drops in the network,thereby degrading network *** proposed solution is a multiple controller architecture;however,this approach increases the complexity and affects network ***,in this study,we propose a framework that avoids forwarding loops and packet drops without the synchronization of multiple-domain controllers in the network using an avoid loop with test packet ***,we collect the link status for improved routing and load balancing for the upcoming flow across inter-domain links to prevent congestion and increase throughput in real *** proposed methodology can significantly reduce the controller workload against multiple controller architecture,minimize flow setup latency,and improve throughput.

关键词： Multiple domain packet drop forwarding loop load balancing SDN multiple controller

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：