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Generalized Two-Point Visual control Model of Human Steering for Accurate State Estimation1

ASME Letters in Dynamic systems and control 2025年第1期5卷 011004页

作者： Mai, Rene E. Sears, Katherine Roessling, Grace Julius, Agung Mishra, Sandipan Department of Mechanical Aerospace and Nuclear Engineering Rensselaer Polytechnic Institute TroyNY12180 United States Department of Cognitive Science Rensselaer Polytechnic Institute TroyNY12180 United States Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY12180 United States

We derive and validate a generalization of the two-point visual control model, an accepted cognitive science model for human steering behavior. The generalized model is needed as current steering models are either insufficiently accurate or too complex for online state estimation. We demonstrate that the generalized model replicates specific human steering behavior with high precision (85% reduction in modeling error) and integrate this model into a human-as-advisor framework where human steering inputs are used for state estimation. As a benchmark study, we use this framework to decipher ambiguous lane markings represented by biased lateral position measurements. We demonstrate that, with the generalized model, the state estimator can accurately estimate the true vehicle state, providing lateral state estimates with under 0.15 m error across participants. However, without the generalized model, the estimator cannot accurately estimate the vehicle's lateral state. © 2024 by ASME.

关键词： Man machine systems

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"There is a Damn Hello on the Social Media!" Insights into Public Risk Communication in the Digital Age 18th

"There is a Damn Hello on the Social Media!" Insights into P...

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18th IFIP WG 11.12 International Symposium on Human Aspects of Information Security and Assurance, HAISA 2024

作者： Große, Christine Division of Computer Science Electrical and Space Engineering Department of Digital Services and Systems Luleå University of Technology Luleå971 87 Sweden

ISBN: (纸本)9783031725586

The ability to handle threats, such as disinformation, manipulation of public opinion, and disruption of critical supplies, is becoming increasingly important, thus, necessitating, among other strategies, efforts to establish a proper risk communication to the public. This paper addresses the need for more empirical research in this area to contribute to the development of an in-depth understanding of public risk communication that includes information-related threats and cyber issues. The study involves officials of three public organizations entrusted with safety and security in society: the police, the rescue service, and the county administrative board of a county in the middle of Sweden. The results detail the recognition of risks to be communicated, the organization of the communication process, the messages that these actors seek to bring forth, and to whom as well as challenges of public risk communication in the digital era. The findings indicate that information-related and cyber risks are increasingly essential to consider as an additional layer of public communication. Two implications emerged as particularly important: (1) all communication about risks and crises must consider the systemic risk of mis- and disinformation, and (2) tailored communication about the risks interrelated with disinformation should use human-centered, dialogue-based, and moderated approaches. Further research can focus on associated challenges, considering the distribution of responsibilities, inter-organizational information sharing and cooperation, and the possibly stochastic effects on critical (information) infrastructures and, ultimately, societal values. © IFIP International Federation for Information Processing 2025.

关键词： Stochastic systems

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Learning for predictive control: A Dual Gaussian Process approach

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Automatica 2025年 177卷

作者： Liu, Yuhan Wang, Pengyu Tóth, Roland Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Flight Dynamics and Control Laboratory Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

An important issue in model-based control design is that an accurate dynamic model of the system is generally nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian Process (GP) based estimation of system models is an effective tool to learn unknown dynamics directly from input/output data. However, conventional GP-based control methods often ignore the computational cost associated with accumulating data during the operation of the system and how to handle forgetting in continuous adaption. In this paper, we present a novel Dual Gaussian Process (DGP) based Model Predictive control (MPC) strategy that enables efficient use of online learning based predictive control without the danger of catastrophic forgetting. The bio-inspired DGP structure is a combination of a long-term GP and a short-term GP, where the long-term GP is used to keep the learnt knowledge in memory and the short-term GP is employed to rapidly compensate unknown dynamics during online operation. A novel recursive online update strategy for the short-term GP is proposed to successively improve the learnt model during online operation without a "dictionary" update and re-computation of the Gram matrix at each time step. Effectiveness of the proposed strategy is demonstrated via numerical simulations. © 2025

关键词： Predictive control systems

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Stability and bifurcation analysis of delayed tri-trophic food chain model in poisoned environment with fear effect and additional food

Stability and bifurcation analysis of delayed tri-trophic fo...

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作者： Ramasamy, Sivasamy Banjerdpongchai, David Park, PooGyeon Center of Excellence in Intelligent Control Automation of Process Systems Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Electrical Engineering Pohang University of Science and Technology Pohang Korea Republic of

One of the most important goals of theoretical ecologists is to find a strategy for controlling the chaos in ecological models to maintain healthy ecosystems. We investigate the influence of fear and the supply of additional food to predators in a delayed tri-trophic food chain model, where interference among the species is determined by Holling type-II functional response. The proposed model incorporates the fact that the growth rates of prey and middle predators are decreased due to the fear of middle and special predators, respectively. The additional food is supplied to both predators by either nature or external agencies. Furthermore, the poisoned prey in the predator's environment is taken into account. In the proposed model, we use two time delays: one for the growth term of the middle predator and another for the gestation delay of the special predator. We determine the conditions for the existence of ecologically feasible equilibrium points and their local and global stability. In addition, we establish the conditions for the existence of Hopf bifurcation around interior equilibrium to seek periodic behavior in nondelayed and delayed models. Numerical investigations are performed to justify the proposed theoretical findings through phase portraits, time series of solutions, and bifurcation diagrams. We observe that the chaotic dynamics of a tri-trophic food chain model can be controlled by the proper choice of the fear effect and by supplying additional food parameters. As a result, our findings provide more ecological insights into the dynamics of the delayed tri-trophic food chain model with the fear effect and additional food supply. © 2023 John Wiley & Sons, Ltd.

关键词： Hopf bifurcation

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Parkinson’s Disease Detection from Resting State EEG Using Multi-head Graph Structure Learning with Gradient Weighted Graph Attention Explanations 7th

Parkinson’s Disease Detection from Resting State EEG Using...

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7th International Workshop on Machine Learning in Clinical Neuroimaging, MLCN 2024, Held in Conjunction with 27th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2024

作者： Neves, Christopher Zeng, Yong Xiao, Yiming Department of Computer Science and Software Engineering Concordia University MontrealQC Canada Concordia Institute for Information Systems Engineering Concordia University MontrealQC Canada

ISBN: (纸本)9783031787607

Parkinson’s disease (PD) is a debilitating neurodegenerative disease that has severe impacts on an individual’s quality of life. Compared with structural and functional MRI-based biomarkers for the disease, electroencephalography (EEG) can provide more accessible alternatives for clinical insights. While deep learning (DL) techniques have provided excellent outcomes, many techniques fail to model spatial information and dynamic brain connectivity, and face challenges in robust feature learning, limited data sizes, and poor explainability. To address these issues, we proposed a novel graph neural network (GNN) technique for explainable PD detection using resting state EEG. Specifically, we employ structured global convolutions with contrastive learning to better model complex features with limited data, a novel multi-head graph structure learner to capture the non-Euclidean structure of EEG data, and a head-wise gradient-weighted graph attention explainer to offer neural connectivity insights. We developed and evaluated our method using the UC San Diego Parkinson’s disease EEG dataset, and achieved 69.40% detection accuracy in subject-wise leave-one-out cross-validation while generating intuitive explanations for the learnt graph topology. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Contrastive Learning

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Scalable and Low-Cost Remote Lab Platforms: Teaching Industrial Robotics Using Open-Source Tools and Understanding Its Social Implications 16th

Scalable and Low-Cost Remote Lab Platforms: Teaching Indust...

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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Monolithic 3-D Integration of Diverse Memories: Resistive Switching (RRAM) and Gain Cell (GC) Memory Integrated on Si CMOS

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IEEE Transactions on Electron Devices 2025年第5期72卷 2685-2690页

作者： Liu, Shuhan Radway, Robert M. Wang, Xinxin Moro, Filippo Nodin, Jean-Francois Jana, Koustav Yan, Lixian Du, Shuting Upton, Luke R. Chen, Wei-Chen Kang, Jimin Chen, Jian Li, Haitong Andrieu, Francois Vianello, Elisa Raina, Priyanka Mitra, Subhasish Wong, H.-S. Philip Stanford University Department of Electrical Engineering StanfordCA94305 United States University of Pennsylvania School of Engineering and Applied Science Department of Electrical and Systems Engineering PhiladelphiaPA19104 United States Université Grenoble Alpes CEA-Leti Grenoble38058 France Purdue University Department of Electrical and Computer Engineering West LafayetteIN47907 United States

The future memory is massive, diverse, and tightly integrated with computing. This research presents tight integration, both physically and architecturally, of two on-chip memory technologies, resistive switching random access memory (RRAM) and gain cell (GC) memory. HfO2 RRAM and indium tin oxide (ITO) GC memory are monolithically integrated on 130-nm Si CMOS technology to form a joint memory that enables low-energy training and low-standby-power inference for edge devices. High-bandwidth on-chip data transfer can have a bandwidth that is 90x state-of-the-art (SoTA) HBM3E and 211x PCIe 7.0, enabled by high-density monolithic 3-D interconnections between memory arrays and high-speed transfer circuit within the integrated joint memory macro. Fabricated atomic layer deposition (ALD) ITO FET exhibits positive VTHof 0.67 V, excellent subthreshold slope (SS) of 65 mV/dec, high ON-current of 20 μA/μm, and low OFF-current of 5 x 10-18 A/μm, as extracted from >5000 s retention. The joint memory macro consumes 78% less standby power and 95% less training energy for MobileBERT compared to SRAM with iso-capacity. This RRAM-GC joint memory facilitates efficient continual learning in edge devices, addressing the challenges of a resource-constrained environment while supporting adaptive artificial intelligence (AI) model updates. © 1963-2012 IEEE.

关键词： RRAM

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Extracting Facial Features to Detect Deepfake Videos Using Machine Learning

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International Journal of Advanced computer science and Applications 2025年第4期16卷 834-842页

作者： Aslam, Ayesha Mir, Jamaluddin Zaman, Gohar Rahman, Atta Salam, Asiya Abdus Ali, Farhan Alhiyafi, Jamal Bakry, Aghiad Gul, Mustafa Jamal Gollapalli, Mohammed Mahmud, Maqsood Department of Computer Science Abbottabad University of Science and Technology Havelian Pakistan Department of Computer Science College of Computer Science and Information Technology Imam Abdulrahman Bin Faisal University P.O. Box 1982 Dammam31441 Saudi Arabia Department of Computer Information Systems College of Computer Science and Information Technology Imam Abdulrahman Bin Faisal University P.O. Box 1982 Dammam31441 Saudi Arabia College of Electronics and Information Engineering Shenzhen University Shenzhen China Department of Computer Science Kettering University FlintMI United States Department of Business Administration University of York York YO10 5DD Heslington United Kingdom Department of Information Technology & Engineering Sydney Met SydneyNSW2000 Australia School of Computing Ulster University Northern Ireland Belfast United Kingdom

Generative adversarial networks (GANs) have gained popularity for their ability to synthesize images from random inputs in deep learning models. One of the notable applications of this technology is the creation of realistic videos known as deepfakes, which have been misused on social media platforms. The difficulty lies in distinguishing these fake videos from real ones with the naked eye, leading to significant concerns. This study proposes a supervised machine learning approach to effectively differentiate between real and counterfeit videos by detecting visual artifacts. To achieve this, two facial features are extracted: eye blinking and nose position, utilizing landmark detection techniques. Both features were trained on supervised machine learning classifiers and evaluated using the publicly available UADFV and Celeb-DF deepfake datasets. The experiments successfully demonstrate that the proposed method achieves a promising and superior performance, with an area under the curve (AUC) of 97% for deepfake detection in contrast to state-of-the-art methods investigating the same datasets. © (2025), (science and Information Organization). All rights reserved.

关键词： Support vector machines

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Advancements in Efficient Underwater Image Restoration Using ETransMapNet for Enhanced Dehazing

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Tehnicki Vjesnik 2025年第3期32卷 1125-1132页

作者： Indumathi, C.P. Alshahrani, Haya Mesfer N.A., Natraj C.H., Sarada Devi Department of Computer Science and Engineering University College of Engineering BIT Campus Anna University Tamilnadu Tiruchirapalli24 India Department of Information Systems College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia Maharashtra Pune India Department of CSE Meenakshi College of Engineering India

Underwater (UW) information is essential for advancing human exploration and utilization of the underwater world, including fields such as UW Paleology, UW Target Detection, UW Object Tracking, UW Surveillance, and related activities. Visual media like movies and images enhance our natural understanding of underwater objectives. In the past decade, underwater photo restoration and enhancement have gained increasing attention. This study proposes a novel approach employing the recently developed Convolutional Neural Network (CNN) for dehazing, named ETransMapNet (Efficient Transmission Map Network). ETransMapNet is designed with convolution layers and nonlinear activations to execute four sequential processes: nonlinear regression, local maxima detection, multi-scale decomposition, and convolutional feature extraction. Unlike traditional CNNs, ETransMapNet replaces the initial layer's Rectified Linear Unit (ReLU) activation with a convolution layer utilizing a Maxout activation function. ETransMapNet extracts features using three convolution kernels of different sizes (3 × 3, 5 × 5, and 7 × 7). The method suppresses noise in the estimated transmittance map, while local extremum values maintain local consistency within the transmittance map. This study adopts Bilateral ReLU (BReLU) for normalizing network outputs within a 0 to 1 range. Additionally, Adaptive Bilateral Filtering (ABF) is applied to remove redundant artifacts from the predicted transmission map. White balancing addresses color divergence, and Laplacian pyramid fusion combines the color-corrected and dehazed images. In the final stage, the resultant image is transformed into the Wavelet and Directional Filter Banks (WDFB) domain for denoising and edge enhancement. Performance metrics reveal that the proposed ETransMapNet approach improves performance by 38%-50% compared to previous methods. © 2025, Strojarski Facultet. All rights reserved.

关键词： Underwater photography

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Mixed RF/FSO Communication systems With Rate Splitting

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IEEE Journal on Selected Areas in Communications 2025年第5期43卷 1621-1634页

作者： Zhang, Yiran Xiao, Zhichen Yang, Liang Bithas, Petros S. Hasna, Mazen O. Karagiannidis, George K. Hunan University College of Computer Science and Electronic Engineering Changsha410082 China National and Kapodistrian University of Athens Department of Digital Industry Technologies Athens157 72 Greece Qatar University Department of Electrical Engineering Doha2713 Qatar Aristotle University of Thessaloniki Department of Electrical and Computer Engineering Thessaloniki541 24 Greece Artificial Intelligence and Cyber Systems Research Center Beirut0379-7751 Lebanon

In this paper, rate splitting (RS) has been applied in a mixed dual-hop radio frequency/free space optical (RF/FSO) relay system. In particular, assuming fixed-gain amplify-and-forward (AF) and decode-and-forward (DF) relay protocols, the performance of both heterodyne detection and intensity-modulated direct detection (IM-DD) has been analytically evaluated. In this framework, it is assumed that the RF channel suffers from Rayleigh fading, while the FSO channel is affected by the atmospheric turbulence-induced fading with Málaga (M) distribution and pointing errors. For the considered system, we derive expressions for the outage probability, the average bit error rate (BER), and the average channel capacity. In addition, the asymptotic performance of the system at high signal-to-noise ratios regime is analyzed, special cases are discussed, and useful insights have been extracted. Finally, numerical results are presented to verify the accuracy of the analytical and asymptotic expressions. © 1983-2012 IEEE.

关键词： Heterodyne detection

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