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Robotic Teleoperation Control Using PSO-Tuned Fractional Order Active Disturbance Rejection

Robotic Teleoperation Control Using PSO-Tuned Fractional Ord...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Omar Gad R. Fareh J. Ghommam M. Nasir S. Khadraoui M. Bettayeb Dept. of Electrical Engineering University of Sharjah UAE Research Inst. of Sciences and Engineering University of Sharjah UAE Dept. of Electrical and Computer Engineering Sultan Qaboos University Oman Control and Energy Management Laboratory (CEM Lab) Ecole National d'Ingenieur de Sfax Tunisia

ISBN: (数字)9798331542726

ISBN: (纸本)9798331542733

Bilateral teleoperation systems have become essential for enabling precise remote manipulation in fields such as robotic surgery and hazardous material handling. However, these systems face significant challenges, including time delays, environmental uncertainties, and nonlinear dynamics, which can affect their stability and performance. This research aims to investigate the application of Active Disturbance Rejection Control (ADRC) to address these challenges. ADRC is chosen for its real-time estimation and compensation for disturbances, even with limited knowledge of the system model. Additionally, the study incorporates enhancements such as Fractional-Order control and optimization techniques, including Particle Swarm Optimization (PSO), for parameter tuning. A simulation study is conducted to assess the performance of the proposed controller in tracking control of bilateral teleoperation systems with 3-DOF and 4-DOF manipulators. Results illustrate the superiority of the fractional order ADRC in disturbance rejection and trajectory tracking compared to linear ADRC, making it a promising solution for teleoperation applications.

关键词： Robust control Uncertainty Trajectory tracking Simulation 3-DOF Surgery Manipulators Stability analysis Particle swarm optimization Tuning

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Intra-Datacenter Load Balancing in a Federated Cloud with Throttled Algorithm

Intra-Datacenter Load Balancing in a Federated Cloud with Th...

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2024 International Conference on Science, engineering and Business for Driving Sustainable Development Goals, SEB4SDG 2024

作者： Akinola, Damola Gideon Adetiba, Emmanuel Abayomi, Abdultaofeek Nnaji, Uche Thakur, Surendra Moyo, Sibusiso Covenant University Covenant Applied Informatics and Communications African Center of Excellence Department of Electrical and Information Engineering Ota Nigeria Durban University of Technology HRA Institute for Systems Science Durban South Africa Mangosuthu University of Technology Department of Information and Communication Technology Durban South Africa Covenant University Dept. of Computer and Information Science Covenant Applied Informatics and Communications African Center of Excellence Ota Nigeria Durban University of Technology KZN E-Skills CoLab Durban South Africa Stellenbosch University School for Data Science and Computational Thinking Department of Mathematical Sciences Stellenbosch7602 South Africa

ISBN: (纸本)9798350358155

The emergence of cloud computing technology has motivated a very high number of users in different organizations to access its services in running and delivering their various operations and services. However, this surge of cloud users has led to the problem of uneven load sharing among the cloud computing infrastructures. As a result, federated cloud infrastructure was initiated to provide more cloud computing resources to accommodate more cloud users' requests and also to provide equal requests mapping with the available cloud resources. Nevertheless, the issue of unequal allocation of requests within the datacenter(s) that makes up the federated cloud environment still persists. This research work presents an intra-datacenter load balancing algorithm in a federated cloud environment named;the intra-balancer adapted throttled algorithm to evenly distribute requests in each datacenter that formulate the federated cloud infrastructures. The simulation of the intra-balancer was carried out in CloudAnalyst, the results of the implementation showed that the intra-balancer outperformed the Round-Robin and ESCE with 98.93ms and 2.26ms for the response and processing time respectively. The results assert that the intra-balancer algorithm provides a better load balancing solution in a federated cloud environment. © 2024 IEEE.

关键词： Cloud platforms

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Scheduling Real Tim Security Aware Tasks in Fog Networks

Scheduling Real Tim Security Aware Tasks in Fog Networks

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2021 IEEE World Congress on Services, SERVICES 2021

作者： Singh, Anil Auluck, Nitin Rana, Omer Nepal, Surya Indian Institute Of Technology Ropar Dept. Of Computer Science And Engineering Rupnagar India Cardiff University School Of Computer Science And Informatics Cardiff United Kingdom Commonwealth Scientific And Research Organization Sydney Australia

ISBN: (纸本)9781665427197

Fog computing extends the capability of cloud services to support latency sensitive applications. Adding fog computing nodes in proximity to a data generation/ actuation source can support data analysis tasks that have stringent deadline constraints. We introduce a real time, security-aware scheduling algorithm that can execute over a fog environment [1 , 2]. The applications we consider comprise of: (i) interactive applications which are less compute intensive, but require faster response time;(ii) computationally intensive batch applications which can tolerate some delay in execution. From a security perspective, applications are divided into three categories: public, private and semi-private which must be hosted over trusted, semi-trusted and untrusted resources. We propose the architecture and implementation of a distributed orchestrator for fog computing, able to combine task requirements (both performance and security) and resource properties. © 2021 IEEE.

关键词： Fog computing

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Lowering the Number of Live-Page Copies on Solid State Drives through Trim-Assisted Space Allocation

Lowering the Number of Live-Page Copies on Solid State Drive...

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International SoC Design Conference, ISOCC

作者： Yong-Cheng Liaw Shuo-Han Chen Hsin-Yun Su Inst. of Artificial Intelligence Innovation National Yang Ming Chiao Tung Uni. Hsinchu Taiwan Dept. of Computer Science Inst. of Artificial Intelligence Innovation National Yang Ming Chiao Tung Uni. Hsinchu Taiwan Dept. of Computer Science& Information Engineering National Taipei Uni.of Technology Taipei Taiwan

Due to the inherent limitations of solid state drives (SSDs), the garbage collection policy is a performance-critical design within the flash translation layer (FTL), designed to manage the internal limitations of SSDs and emulate the functionalities of conventional storage devices. To assist garbage collection, the concept of trim command has been designed and deployed by marking storage space as invalid and reducing the number of live-page copies during garbage collection. Nevertheless, conventional approaches usually utilize trim information during garbage collection, and the possibility of utilizing trim information during data allocation receives much less attention. Such an observation motivates this paper to propose a trim-assisted space allocation mechanism to lower the number of live-page copies from the source where the invalid space is produced. The experiments show promising results.

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Carotid Plaque Motion Analysis in Ultrasound Videos to Discover Rupture-Prone Plaque Areas

Carotid Plaque Motion Analysis in Ultrasound Videos to Disco...

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IEEE International Symposium on Biomedical Imaging

作者： Georgia D. Liapi Christos P. Loizou Andrew Nicolaides Maura Griffin Dimitrios Kardoulas Constantinos Pattichis Efthyvoulos Kyriacou Dept. of Electrical Engineering Computer Eng. and Informatics Cyprus University of Technology Limassol Cyprus Vascular Screening and Diagnostic Center Nicosia Cyprus Hemodynamic Unit Vascular Surgery Clinic National and Kapodistrian University of Athens Attikon General University Hospital Athens Greece Dept. of Computer Science University of Cyprus Nicosia Cyprus

ISBN: (数字)9798350313338

ISBN: (纸本)9798350313345

Identification of carotid plaque motion alterations, throughout the cardiac cycle (CC), may reveal rupture-prone plaque components and assist doctors in ischemic stroke risk stratification. In this study, we investigated Ultrasound (U/S) carotid plaque motion, focusing on middle-systole (MS), the interval between early systole (ES) and peak systole (PS) expecting that the dynamic forces applied on the plaque at the beginning of systole are more profound from cardiac ES to MS, compared to PS. We deployed a computer tool, previously developed by researchers of the e-health laboratory at Cyprus University of technology, for carotid plaque motion estimation in B-mode U/S videos. We included 16 carotid U/S videos (8 Asymptomatic, AS; 8 Symptomatic, SY patients) and performed video frame (VF) resolution standardization, manual region of interest (ROI) selection, identification of 5 CCs (ES and MS pairs), and plaque motion spread and magnitude measurement, based on dense optical flow. The Maximum Angular Spread (MAXFW 20 , first 20% of the plaque’s overall MAXFW; units: 0° to 360°), a measure we created to determine angle differences between motion vectors, in all plaque areas, can assist in classifying the plaque as concordant (low-strain), moderate(m)-discordant (mid-strain) or discordant (highstrain). We identified 1 concordant, 8 m-discordant, and 7 discordant plaques, with MAXFW 20 ranging from 58±7.45°, 91±43.9°, 156±49.2° (mean±standard deviation), respectively. As our primary findings support our hypothesis, in the future, we will also derive the stress applied on the carotid plaque, in ES and MS.

关键词： Ultrasonic imaging Standardization Stroke (medical condition) Vectors Real-time systems Motion measurement Motion analysis

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A Physically Unclonable Function Using Time-to-Digital Converter with Linearity Self-Calibration and its FPGA Implementation

A Physically Unclonable Function Using Time-to-Digital Conve...

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International Test Conference in Asia (ITC-Asia)

作者： Kentaroh Katoh Shuhei Yamamoto Zheming Zhao Yujie Zhao Shogo Katayama Anna Kuwana Takayuki Nakatani Kazumi Hatayama Haruo Kobayashi Keno Sato Takashi Ishida Toshiyuki Okamoto Tamotsu Ichikawa Dept. of Electronics Engineering and Computer Science Faculty of Engineering Fukuoka University Fukuoka Japan Faculty of Science of technology Division of Electronics and Informatics Gunma University ROHM Semiconductor Yokohama Japan

This paper presents a physically unclonable function (PUF) using flash time-to-digital converter (TDC) with linearity self-calibration. The proposed PUF utilizes that the variation of delay of delay elements of TDC is unique to the device and unclonable. The proposed PUF is constructed using the flash TDC with linearity self-calibration using histogram method. With the linearity self-calibration operation, variation of delay elements is estimated. The response output of the PUF is calculated using the estimated variation and the challenge inputs. The proposed PUF is a simple digital circuit consisting of basic digital elements. It is easy to design and implement to both SoC and FPGA. It can be used as not only strong PUF but also as a TDC with fine linearity. The experimental results with Artix7 FPGA show that the intra-chip variation is 8.9 % and the inter-chip variation is 46.9 %. The probability of the correct identification is 99.8 %. Extra resources to construct the proposed PUF are 33.7 % of the resources of the TDC with linearity self-calibration.

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RadioModRec-l: A Large Scale Radio Frequency Dataset for Automatic Modulation Recognition Research

RadioModRec-l: A Large Scale Radio Frequency Dataset for Aut...

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International Conference on Emerging Trends in Networks and computer Communications (ETNCC)

作者： Emmanuel Adetiba Jamiu R. Olasina Obiseye Obiyemi Dept. of Electrical and Information Engineering Covenant Applied Informatics and Communication Africa Center of Excellence Covenant University Ota Nigeria HRA Institute for Systems Science Durban University of Technology Durban South Africa Dept. of Computer Engineering Federal Polytechnic Ilaro Ilaro Nigeria Dept. of Electrical Power Engineering Space Science Centre Durban University of Technology Durban South Africa

ISBN: (数字)9798350353266

ISBN: (纸本)9798350353273

Access to well-curated large datasets remains a significant bottleneck in AI-based research within wireless communication. Rapid advancements in neighbouring fields, such as computer vision and natural language processing, are largely due to the availability of extensive open-access datasets. However, similar progress has not been observed in wireless communication. To address this gap, we curated a comprehensive dataset for fifteen digital modulation schemes, including 4QAM, 16QAM, 64QAM, 256QAM, 8PSK, 16PSK, 32PSK, 64PSK, 128PSK, 256PSK, CPFSK, DBPSK, DQPSK, GFSK, and GMSK. Our dataset considers Rayleigh and Rician channel models under Additive White Gaussian Noise (A WGN) with SNRs ranging from -20dB to + 20dB in 5dB increments. The data samples were converted to constellation signal images and carefully pre-processed. Named RadioModRec, this dataset provides a valuable resource for researchers to train and evaluate AI models. It is freely accessible on Kaggle, promoting further innovation in the wireless communication domain.

关键词： Wireless communication Technological innovation Transfer learning Stochastic processes Rician channels Market research Natural language processing Optimization Residual neural networks Radio spectrum management

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Threat Analysis of Cyber Security Exercise for Reservoir Testbed Based on Attack Tree

Threat Analysis of Cyber Security Exercise for Reservoir Tes...

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International Symposium on Computing and Networking Workshops (CANDARW)

作者： Sú-Goân Tân I-Hsien Liu Jung-Shian Li Dept. of Electrical Engineering Inst. of Computer and Communication Engineering National Cheng Kung University Tainan Taiwan

As operational technology (OT) and information technology (IT) are getting closer in industrial control systems (ICS) nowadays, the security of critical infrastructure (CI) has become an important issue, which may have a great influence on people's livelihood, economy, and even safety. Therefore, governments around the world have conducted a series of cyber security exercises, which is one of the most effective ways to maintain and optimize the security, so as to cultivate the information security capabilities of government agencies and enterprises in the face of cyber attacks. In this paper, we present the framework and situations of the cyber security exercise with two scenarios on our reservoir testbed, and then analyze the threats based on the attack tree model and give the security recommendations to protect the critical infrastructure according to the results of the practical exercise and analysis.

关键词： Integrated circuits Measurement Analytical models Industrial control Knowledge based systems Government Reservoirs

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Integrating Local Learning to Improve Deep-Reinforcement-Learning-based Pairs Trading Strategies

Integrating Local Learning to Improve Deep-Reinforcement-Lea...

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Artificial Intelligence (CAI), IEEE Conference on

作者： Wei-Che Chang Tian-Shyr Dai Ying-Ping Chen Chin-Yi Hsieh Yu-Wei Chang Yu-Han Huang Inst. of Computer Science and Engineering National Yang Ming Chiao Tung University Hsinchu City Taiwan Dept. of Information Management and Finance National Yang Ming Chiao Tung University Hsinchu City Taiwan Dept. of Computer Science National Yang Ming Chiao Tung University Hsinchu City Taiwan

ISBN: (数字)9798350354096

ISBN: (纸本)9798350354102

inst.ad of trying to predict unpredictable market trends, influenced by various complex factors that are challenged to be fully captured in a machine learning model, financial experts often adopt pairs trading. This strategy involves simultaneously trading two stocks to eliminate market trends. The portfolio value of a carefully selected stock pair oscillates around a mean level, with investors longing the underpriced and shorting the overpriced portfolios to profit or stop loss when the portfolio’s value reverts or diverges *** timing of trading actions highly depends on the characteristics of constituent stocks and significantly influences trading performance. Past literature either trains a single machine learning model with all stock pairs’ trading data or multiple models, each for a specific stock pair. While the former approach avoids overfitting due to sufficient data, it struggles to capture the unique characteristics of different stock pairs. Conversely, the latter approach focuses on specific pairs but faces limited training *** address this dilemma, our paper leverages local learning to recommend the best trading actions. We group trading data by similarity and train each model with data from a specific group. The trained model then predicts optimal actions for stock pairs in that group. Using Gaussian mixture models for data grouping in local learning outperforms other methods in scenarios with limited data for most stock pairs.

关键词： Training Machine learning Learning (artificial intelligence) Predictive models White noise Market research Data models

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Virtual Illusions: Unleashing Deepfake Expertise for Enhanced Visual Effects in Film Production

Virtual Illusions: Unleashing Deepfake Expertise for Enhance...

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International Conference on Reliability, Infocom Technologies and Optimization (ICRITO) (Trends and Future Directions)

作者： Sonu Mittal Mukesh Joshi Prashant Vats Govind Murari Upadhayay Shailender Kumar Vats Shalendra Kumar Dept. of AIIT Amity University Noida Uttar Pradesh India School of Computing Graphic Era Hill University Bhimtal Campus Uttarakhand India Dept. of CSE Faculty of Engineering Manipal University Jaipur Jaipur Rajasthan India Dept. of Computer Applications Manipal University Jaipur Jaipur Rajasthan India Dept. of Computer Applications Institute of Management Studies (IMS) Noida Uttar Pradesh India Dept. of Computer Applications New Delhi Inst. of Mgmt. GGSIPU New Delhi India

ISBN: (数字)9798350350357

ISBN: (纸本)9798350350364

As technology continues to evolve, the realm of visual effects in film production has witnessed a significant transformation. Deepfake technology, once associated with controversial uses, has found a legitimate and innovative application within the filmmaking industry. This paper explores the integration of deepfake expertise into film production processes, focusing on its potential to revolutionize visual effects and storytelling. By harnessing deep learning algorithms, filmmakers can create hyper-realistic digital assets, seamlessly blending fiction with reality. This paper delves into the ethical considerations, creative possibilities, and technical challenges associated with the utilization of deepfake technology in filmmaking. Furthermore, it examines case studies and industry trends to provide insights into the current landscape and prospects of incorporating deep fake expertise for enhanced visual effects in film production.

关键词： Industries Deepfakes Ethics Technological innovation Privacy Production Visual effects

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