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Intelligent obstacle avoidance algorithm for safe urban monitoring with autonomous mobile drones

Journal of Electronic Science and Technology 2024年第4期22卷 19-36页

作者： Didar Yedilkhan Abzal E.Kyzyrkanov Zarina A.Kutpanova Shadi Aljawarneh Sabyrzhan K.Atanov Department of Computer Engineering Astana IT UniversityAstana010000Kazakhstan Department of Computer and Software Engineering L.N.Gumilyov Eurasian National UniversityAstana010000Kazakhstan Department of Automation and Control Systems L.N.Gumilyov Eurasian National UniversityAstana010000Kazakhstan Department of Software Engineering Jordan University of Science and TechnologyIrbid22110Jordan

The growing field of urban monitoring has increasingly recognized the potential of utilizing autonomous technologies,particularly in drone *** deployment of intelligent drone swarms offers promising solutions for enhancing the efficiency and scope of urban condition *** this context,this paper introduces an innovative algorithm designed to navigate a swarm of drones through urban landscapes for monitoring *** primary challenge addressed by the algorithm is coordinating drone movements from one location to another while circumventing obstacles,such as *** algorithm incorporates three key components to optimize the obstacle detection,navigation,and energy efficiency within a drone ***,the algorithm utilizes a method to calculate the position of a virtual leader,acting as a navigational beacon to influence the overall direction of the ***,the algorithm identifies observers within the swarm based on the current *** further refine obstacle avoidance,the third component involves the calculation of angular velocity using fuzzy *** approach considers the proximity of detected obstacles through operational rangefinders and the target’s location,allowing for a nuanced and adaptable computation of angular *** integration of fuzzy logic enables the drone swarm to adapt to diverse urban conditions dynamically,ensuring practical obstacle *** proposed algorithm demonstrates enhanced performance in the obstacle detection and navigation accuracy through comprehensive *** results suggest that the intelligent obstacle avoidance algorithm holds promise for the safe and efficient deployment of autonomous mobile drones in urban monitoring applications.

关键词： Drone swarms Fuzzy logic Intelligent solution Smart city Urban monitoring

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Tracking daily paths in home contexts with RSSI fingerprinting based on UWB through deep learning models

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Multimedia Tools and Applications 2024年 1-25页

作者： Polo-Rodríguez, A. Valera, J.C. Peral, J. Gil, D. Medina-Quero, J. Department of Computer Engineering Automation and Robotics University of Granada Granada18071 Spain Alicante03690 Spain Department of Software and Computing Systems University of Alicante Alicante03690 Spain

The field of human activity recognition has evolved significantly, driven largely by advancements in Internet of Things (IoT) device technology, particularly in personal devices. This study investigates the use of ultra-wideband (UWB) technology for tracking inhabitant paths in home environments using deep learning models. UWB technology estimates user locations via time-of-flight and time-difference-of-arrival methods, which are significantly affected by the presence of walls and obstacles in real environments, reducing their precision. To address these challenges, we propose a fingerprinting-based approach utilizing received signal strength indicator (RSSI) data collected from inhabitants in two flats (60 m2 and 100 m2) while performing daily activities. We compare the performance of convolutional neural network (CNN), long short-term memory (LSTM), and hybrid CNN+LSTM models, as well as the use of Bluetooth technology. Additionally, we evaluate the impact of the type and duration of the temporal window (future, past, or a combination of both). Our results demonstrate a mean absolute error close to 50 cm, highlighting the superiority of the hybrid model in providing accurate location estimates, thus facilitating its application in daily human activity recognition in residential settings. © The Author(s) 2024.

关键词： Ultra-wideband (UWB)

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Cloud Computing Design Patterns for MLOps: Applications to Virtual Power Plants 49

Cloud Computing Design Patterns for MLOps: Applications to V...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Subramanya, Rakshith Raisanen, Paula Sierla, Seppo Vyatkin, Valeriy Aalto University Department of Electrical Engineering and Automation Espoo Finland Department of Electrical Engineering and Automation Department of Computer Science Electrical and Space Engineering Luleå Sweden

ISBN: (纸本)9798350331820

Virtual Power Plants (VPPs) are a key factor in smart grids, and they use cloud computing to integrate and manage Distributed Energy Resources (DERs). VPPs use Machine Learning (ML) methods to optimize various tasks. Machine Learning Operations (MLOps) methodology is a set of techniques that targets to develop, deploy and maintain ML applications smoothly on production. Cloud design patterns (CDPs) are general reusable solutions for common cloud problems that can improve the reliability, scalability, and quality of cloud applications. This paper discusses how CDPs can help in building complex ML applications on cloud with MLOps practices which can help VPPs to optimize their workloads. The paper also provides an example implementation on a public cloud provider. © 2023 IEEE.

关键词： Cloud computing

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IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第5期6卷 1360-1372页

作者： Wang, Shuyue Liu, Zhunga Zhang, Zuowei Bennamoun, Mohammed Northwestern Polytechnical University School of Automation Shaanxi Xi’an710072 China The University of Western Australia Department of Computer Science and Software Engineering PerthWA6009 Australia

Multimodal domain adaptation (MMDA) aims to transfer knowledge across different domains that contain multimodal data. Current methods typically assume that both the source and target domains have paired multimodal data with the same modalities, allowing for direct knowledge transfer between corresponding types of data. However, in certain applications, the source domain benefits from advanced sensors and equipment, capturing more modalities than those available in the target domain. As a result, the information from the source modalities may not strongly align with that of the target modalities. This weak correlation hinders the effective utilization of all source data for the target domain. To address this challenge, we propose a weakly correlated multimodal domain adaptation (WCMMDA) method for pattern classification. WCMMDA is designed to acquire the modality-independent and category-related knowledge from the source domain, enabling the full utilization of available source modalities for effective knowledge transfer. Specifically, modality-invariant features are first extracted from the multimodal data to bridge the heterogeneity gap within each domain. Subsequently, domain-invariant features are further learned from these modality-invariant features to align the feature distributions across the source and target domains. A source-specific classifier is employed here, which predicts pseudo-labels for the target data and enables the feature extractor to explore category-related information in source features. Finally, a target-specific classifier is trained using the pseudolabeled target data, where highly reliable pseudolabels are selected based on confidence to improve classification performance. Extensive experiments are performed on the real-world multimodal datasets to demonstrate the superiority of WCMMDA. © 2020 IEEE.

关键词： Labeled data

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Unpredictability of Digital Twin for Connected Vehicles

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China Communications 2023年第2期20卷 26-45页

作者： Xiaoxu Wang Zeyin Huang Songmiao Zheng Rong Yu Miao Pan School of Automation Guangdong University of TechnologyGuangzhou 510006China Electrical and Computer Engineering Department University of HoustonHoustonTX 77004USA

Digital twin is an essential enabling technology for 6G connected *** highfidelity mobility simulation,digital twin is expected to make accurate prediction about the vehicle trajectory,and then support intelligent applications such as safety monitoring and self-driving for connected ***,it is observed that even if a digital twin model is perfectly derived,it might still fail to predict the trajectory due to tiny measurement noise or delay in the initial vehicle *** paper aims at investigating the sources of unpredictability of digital *** the car-following behaviors in connected vehicles for case *** theoretical analysis and experimental results indicate that the predictability of digital twin naturally depends on its system *** a system enters a complex pattern,its longterm states are ***,our study discloses that the complexity is determined,on the one hand,by the intrinsic factors of the target physical system such as the driver’s response sensitivity and delay,and on the other hand,by the crucial parameters of the digital twin system such as the sampling interval and twining latency.

关键词： digital twin connected vehicles unpredictability complexity

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Control Structures and Algorithms for Force Feedback Bilateral Teleoperation Systems: A Comprehensive Review

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computer Modeling in engineering & Sciences 2025年第2期142卷 973-1019页

作者： Jiawei Tian Yu Zhou Lirong Yin Salman A.AlQahtani Minyi Tang Siyu Lu Ruiyang Wang Wenfeng Zheng Department of Computer Science and Engineering Major in Bio Artificial IntelligenceHanyang UniversityAnsan-si15577Republic of Korea Department of Geography and Anthropology Louisiana State UniversityBaton RougeLA 70803USA Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityRiyadh11574Saudi Arabia School of Automation University of Electronic Science and Technology of ChinaChengdu610054China

Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare *** paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current *** elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile *** this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of *** review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough ***,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote *** underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological *** research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous *** the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.

关键词： Force feedback bilateral teleoperation robot development history application prospect

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An Optimal Weighted Ensemble of 3D CNNs for Early Diagnosis of Alzheimer’s Disease

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SN computer Science 2024年第2期5卷 252页

作者： Dharwada, Sriram Tembhurne, Jitendra Diwan, Tausif Department of Computer Science and Automation Indian Institute of Science Bangalore India Department of Computer Science and Engineering Indian Institute of Information Technology Maharashtra Nagpur 441108 India

Alzheimer disease (AD) is a chronic neurological disorder in which the loss of brain cells causes dementia. Early and accurate diagnosis of AD will lead to better treatment of the disease before irreversible brain damage has been occurred. This paper proposes the classification of Alzheimer's disease using 3D structural Magnetic Resonance Imaging (sMRI) images through 3D convolutional neural networks (CNNs). Most existing methods utilizing 3D subject-level CNNs for Alzheimer's disease classification design a single model which relies on a very large training dataset for improved generalization. Herein, we address this issue through 3D transfer learning which makes use of knowledge gained from a pre-trained task. We train 3D versions of five classical 2D image classification architectures—ResNet, ResNeXt, SE-ResNet, SE-ResNeXt, and SE-Net—by initializing each model with pre-trained weights from their 2D counterparts, and combine their predictions through a weighted average method. The weights assigned to each model of the ensemble are optimized to achieve a performance better than any single 3D CNN model. With a relatively smaller training dataset, the proposed model obtains 97.27%, 82.33%, 90.41%, 84.22%, 84.26%, and 77.1% accuracies for the Alzheimer’s disease (AD) versus cognitively normal (CN), early mild cognitive impairment (EMCI) versus CN, late mild cognitive impairment (LMCI) versus CN, EMCI versus AD, LMCI versus AD, and EMCI versus LMCI classification tasks, outperforming current state-of-the-art methods, and indicating the effectiveness of our proposed model. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2024.

关键词： Alzheimer’s disease Convolutional neural networks Ensemble learning Transfer learning

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A Software Defect Prediction Method Using a Multivariate Heterogeneous Hybrid Deep Learning Algorithm

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computers, Materials & Continua 2025年第2期82卷 3251-3279页

作者： Qi Fei Haojun Hu Guisheng Yin Zhian Sun College of Computer Science and Technology Harbin Engineering UniversityHarbin150001China Information Technology Research Department Jiangsu Automation Research InstituteLianyungang222062China School of Computer Science and Technology Harbin Institute of TechnologyShenzhen518055China

Software defect prediction plays a critical role in software development and quality assurance processes. Effective defect prediction enables testers to accurately prioritize testing efforts and enhance defect detection efficiency. Additionally, this technology provides developers with a means to quickly identify errors, thereby improving software robustness and overall quality. However, current research in software defect prediction often faces challenges, such as relying on a single data source or failing to adequately account for the characteristics of multiple coexisting data sources. This approach may overlook the differences and potential value of various data sources, affecting the accuracy and generalization performance of prediction results. To address this issue, this study proposes a multivariate heterogeneous hybrid deep learning algorithm for defect prediction (DP-MHHDL). Initially, Abstract Syntax Tree (AST), Code Dependency Network (CDN), and code static quality metrics are extracted from source code files and used as inputs to ensure data diversity. Subsequently, for the three types of heterogeneous data, the study employs a graph convolutional network optimization model based on adjacency and spatial topologies, a Convolutional Neural Network-Bidirectional Long Short-Term Memory (CNN-BiLSTM) hybrid neural network model, and a TabNet model to extract data features. These features are then concatenated and processed through a fully connected neural network for defect prediction. Finally, the proposed framework is evaluated using ten promise defect repository projects, and performance is assessed with three metrics: F1, Area under the curve (AUC), and Matthews correlation coefficient (MCC). The experimental results demonstrate that the proposed algorithm outperforms existing methods, offering a novel solution for software defect prediction.

关键词： Software defect prediction multiple heterogeneous data graph convolutional network models based on adjacency and spatial topologies CNN-BiLSTM TabNet

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Combination of Interleaved Single-input Multiple-output DC-DC Converters

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CSEE Journal of Power and Energy Systems 2022年第1期8卷 132-142页

作者： Eladio Dur´an Aranda Salvador P´erez Litr´an Mar´ıa Bella Ferrera Prieto Electronic Engineering Computer Systems and Automation DepartmentUniversity of HuelvaHuelvaSpain Electrical and Thermal Engineering Design and Projects DepartmentUniversity of HuelvaHuelvaSpain

This paper analyses,simulates and verifies an experimental prototype of a four-phase interleaved DC-DC *** is based on a SEPIC-Cuk *** developed prototype has been used in single-input multiple-output(SIMO)*** combined converter allows obtaining dual output voltages of the same value,from a single input DC voltage and with only a power *** interleaved DC-DC converters achieve a better dynamic response and low ripple,maintaining their *** converter is connected in parallel,thereby managing their losses by distributing them between more components,which facilitates the thermal management of the multiphase converter and allows handling high power values in small sizes with respect to solutions for a single *** control strategies were applied:synchronous operation mode(SOM)and interleaved operation mode(IOM).The simulation results allow the comparison of both operational modes,verifying that the IOM presents advantages with respect to the ripple at the input and output *** experimental prototype was designed for a distributed power architecture and bipolar DC microgrid(MG).

关键词： Bipolar DC DC-DC converter interleaved

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Reinforcement Learning with Quasi-Hyperbolic Discounting (Extended Abstract) 10

Reinforcement Learning with Quasi-Hyperbolic Discounting (Ex...

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10th Indian Control Conference, ICC 2024

作者： Eshwar, S.R. Motwani, Mayank Roy, Nibedita Thoppe, Gugan Department of Computer Science and Automation Indian Institute of Science Bengaluru India Department of Computer Science and Engineering Indian Institute of Technology Bombay India

ISBN: (纸本)9798331517212

Human decision-making is better modeled via discounting schemes such as quasi-hyperbolic and hyperbolic than classical ones such as exponential or average reward. In [3], we initiated the study of reinforcement learning with Quasi-Hyperbolic (QH) discounting and proposed the first model-free algorithm for finding a type of policy called the Markov perfect equilibrium. This paper provides a summary of that algorithm and our other findings on its convergence. © 2024 IEEE.

关键词： Contrastive Learning

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