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An Intelligent Self-Driving Car’s Design and Development, Including Lane Detection Using ROS and Machine Vision Algorithms 1

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3rd International Conference on Universal Threats in Expert Applications and Solutions, UNI-TEAS 2024

作者： Sujatha, E. Sundar, J. Sathiya Jeba Raju, D. Naveen Lakshminarayanan, S. Suganthi, N. Thandalam Chennai India Department of Computer Science and Engineering Velammal Institute of Technology Chennai India Department of Computer Science and Engineering R.M.K. Engineering College Kavaraipettai Chennai India Sri Sairam Engineering College Chennai India SRM Institute of Science and Technology Ramapuram Campus Chennai India

ISBN: (数字)9789819738106

ISBN: (纸本)9789819738090

It is challenging to find a solution for lane detection. It has aroused the curiosity of the computer vision field for many years. It has been found that computer vision and machine learning algorithms struggle to tackle the multi-feature identification problem known as lane detection. Even though there are a few different machine learning approaches that may be used for lane identification, these approaches are often employed for classification rather than feature development. On the other hand, contemporary techniques of machine learning may be used to discover features that have a high recognition value, and they have shown success in feature identification tests. These strategies haven’t been applied correctly, which compromises their efficiency and accuracy when it comes to lane recognition. In this study, we provide a fresh approach to solving the problem. A brand-new preprocessing and Region of Interest (ROI) selection method is presented in this article. The major objective is to extract white features by making use of the HSV color transformation, adding preliminary edge feature detection while doing preprocessing, and then selecting ROI based on the preprocessing that was proposed. With the help of this cutting-edge preprocessing strategy, the lane may be found. The integrated autonomous vehicle that we envision is one that is controlled by a Robotic Operating System and that is capable of making intelligent driving choices. The unique filtering and noise reduction techniques that were used on the visual feedback by means of the processing unit served as the basis for the digital image-processing algorithm that was responsible for the greatest performance achieved by the autonomous vehicle. Within the control system, we used two separate control units, one of which was a master and the other of which was a slave. The master control unit is in charge of the visual processing and filtering, while the slave control unit is in charge of the vehicle’s propulsio

关键词： Autonomous vehicles

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A Novel Adjustable Constant-Force Mechanism Based on Spring and Gear Transmission 6th

A Novel Adjustable Constant-Force Mechanism Based on Spring ...

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6th IFToMM International Conference on Mechanisms, Transmissions, and Applications, MeTrApp 2023

作者： Nguyen, Vu Linh College of Engineering and Computer Science VinUniversity Hanoi Viet Nam

ISBN: (纸本)9783031298141

This paper presents a novel adjustable constant-force mechanism (ACFM) based on spring and gear transmission. The mechanism is constructed by combining two gear-spring units and a Sarrus linkage. The significance of this design is that it can provide a constant force, which can be adjustable, over a large displacement. The adjustment of the output force is energy-free through a change in the spring position without spring preload. This work first explains the geometric constraints and desired parameters of the ACFM. Then, a numerical example is provided to illustrate the performance of the mechanism. Moreover, this paper also shows a prototype and experiments with an ACFM. It was found that the ACFM could provide a constant force of up to 20 N within a range of 140 mm, and the force error is less than 6%. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Power transmission

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Visibility restoration for real-world hazy images via improved physical model and Gaussian total variation

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Frontiers of computer science 2024年第1期18卷 267-269页

作者： Chuan LI Enping HU Xinyu ZHANG Hao ZHOU Hailing XIONG Yun LIU College of Computer and Information Science Southwest UniversityChongqing 400715China School of Big Data and Intelligent Engineering Chongqing College of International Business and EconomicsChongqing 401520China College of Artificial Intelligence Southwest UniversityChongqing 400715China College of Electronic and Information Engineering Southwest UniversityChongqing 400715China

1 Introduction Under real-world haze conditions,the existence of haze particles in the atmosphere reduces the visibility of captured ***,the noise is inevitably introduced into the degraded image,which further deteriorates the visual quality of the *** enhance the visibility and quality of outdoor real-world hazy images,numerous algorithms have been proposed to remove haze from a single input *** existing methods are broadly lumped into two categories:prior-based methods[1,2]and learning-based methods[3–6].Unfortunately,the widely used atmospheric scattering model and the corresponding haze removal methods fail to take the noise interference into account,which may result in poor visibility restoration performance.

关键词： visibility remove noise

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Road Traffic Monitoring from Aerial Images Using Template Matching and Invariant Features

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computers, Materials & Continua 2024年第3期78卷 3683-3701页

作者： Asifa Mehmood Qureshi Naif Al Mudawi Mohammed Alonazi Samia Allaoua Chelloug Jeongmin Park Department of Creative Technologies Air UniversityIslamabad46000Pakistan Department of Computer Science College of Computer Science and Information SystemNajran UniversityNajran55461Saudi Arabia Department of Information Systems College of Computer Engineering and SciencesPrince Sattam bin Abdulaziz UniversityAl-Kharj16273Saudi Arabia Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Engineering Tech University of KoreaGyeonggi-do15073South Korea

Road traffic monitoring is an imperative topic widely discussed among *** used to monitor traffic frequently rely on cameras mounted on bridges or ***,aerial images provide the flexibility to use mobile platforms to detect the location and motion of the vehicle over a larger *** this end,different models have shown the ability to recognize and track ***,these methods are not mature enough to produce accurate results in complex road ***,this paper presents an algorithm that combines state-of-the-art techniques for identifying and tracking vehicles in conjunction with image *** extracted frames were converted to grayscale,followed by the application of a georeferencing algorithm to embed coordinate information into the *** masking technique eliminated irrelevant data and reduced the computational cost of the overall monitoring ***,Sobel edge detection combined with Canny edge detection and Hough line transform has been applied for noise *** preprocessing,the blob detection algorithm helped detect the *** of varying sizes have been detected by implementing a dynamic thresholding *** was done on the first image of every ***,to track vehicles,the model of each vehicle was made to find its matches in the succeeding images using the template matching *** further improve the tracking accuracy by incorporating motion information,Scale Invariant Feature Transform(SIFT)features have been used to find the best possible match among multiple *** accuracy rate of 87%for detection and 80%accuracy for tracking in the A1 Motorway Netherland dataset has been *** the Vehicle Aerial Imaging from Drone(VAID)dataset,an accuracy rate of 86%for detection and 78%accuracy for tracking has been achieved.

关键词： Unmanned Aerial Vehicles(UAV) aerial images dataset object detection object tracking data elimination template matching blob detection SIFT VAID

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Convolution Neural Network for Gastrointestinal Cancer Detection and Classification using Deep Learning

Convolution Neural Network for Gastrointestinal Cancer Detec...

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2023 International Conference on System, Computation, Automation and Networking, ICSCAN 2023

作者： Sathishkumar, R. Nirmalraj, M. Govindarajan, M. Jaisree, J. Haripriya, L. Santhiya, M. Manakula Vinayagar Institute of Technology Department of Computer Science and Engineering Puducherry India Women's Engineering College Department of Computer Science and Engineering Puducherry India Annamalai University Department of Computer Science and Engineering Tamilnadu Chidambaram India

ISBN: (纸本)9798350315127

Ailments of the gastrointestinal tract (GIT), including bleeding, ulcers, polyps, Crohn's disease, and cancer, are becoming more prevalent. Ulcers and bleeding in the small and large bowels are two of them that are particularly common. Medical experts find the manual diagnostic process to be both time-consuming and difficult. As a result, experts have suggested computerised techniques for the identification and classification of certain disorders. Medical video endoscopy produces a huge volume of images, thus it takes a long time for specialists to look over them all. Early detection and diagnosis of certain illnesses can result in successful therapy. SqueezeNet, ResNet-101, and DenseNet-169 are three deep learning-based models that we introduce in this paper and assess for their capacity to diagnose a dataset of lower gastrointestinal disorders. There are 5,000 images in the Kvasir dataset, similarly distributed among five different lower gastrointestinal conditions, including ulcerative colitis, polyps, normal cecum, and normal pylorus. The deep feature vector is processed using the softmax activation function, which divides the input images into five groups. Surprisingly, all of the convolutional neural network (CNN) models had exceptional performance, with DenseNet-169 reaching accuracy, specificity, precision, recall, and F1 Score values of 97.8%, 98.07%, 97.5%, 96.02% and 97.6%. © 2023 IEEE.

关键词： Convolutional neural networks

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Skeleton-Based Action Recognition Using Graph Convolutional Network with Pose Correction and Channel Topology Refinement

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computers, Materials & Continua 2025年第4期83卷 701-718页

作者： Yuxin Gao Xiaodong Duan Qiguo Dai School of Engineering Guangzhou College of Technology and BusinessFoshan528138China School of Computer Science and Engineering Dalian Minzu UniversityDalian116000China SEAC key Laboratory of Big Data Applied Technology Dalian Minzu UniversityDalian116000China

Graph convolutional network(GCN)as an essential tool in human action recognition tasks have achieved excellent performance in previous ***,most current skeleton-based action recognition using GCN methods use a shared topology,which cannot flexibly adapt to the diverse correlations between joints under different motion *** video-shooting angle or the occlusion of the body parts may bring about errors when extracting the human pose coordinates with estimation *** this work,we propose a novel graph convolutional learning framework,called PCCTR-GCN,which integrates pose correction and channel topology refinement for skeleton-based human action ***,a pose correction module(PCM)is introduced,which corrects the pose coordinates of the input network to reduce the error in pose feature ***,channel topology refinement graph convolution(CTR-GC)is employed,which can dynamically learn the topology features and aggregate joint features in different channel dimensions so as to enhance the performance of graph convolution networks in feature ***,considering that the joint stream and bone stream of skeleton data and their dynamic information are also important for distinguishing different actions,we employ a multi-stream data fusion approach to improve the network’s recognition *** evaluate the model using top-1 and top-5 classification *** the benchmark datasets iMiGUE and Kinetics,the top-1 classification accuracy reaches 55.08%and 36.5%,respectively,while the top-5 classification accuracy reaches 89.98%and 59.2%,*** the NTU dataset,for the two benchmark RGB+Dsettings(X-Sub and X-View),the classification accuracy achieves 89.7%and 95.4%,respectively.

关键词： Pose correction multi-stream fusion GCN action recognition

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A Normalizing Flow-Based Bidirectional Mapping Residual Network for Unsupervised Defect Detection

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computers, Materials & Continua 2024年第2期78卷 1631-1648页

作者： Lanyao Zhang Shichao Kan Yigang Cen Xiaoling Chen Linna Zhang Yansen Huang School of Mechanical Engineering Guizhou UniversityGuiyang550025China School of Computer Science and Engineering Central South UniversityChangsha410083China School of Computer and Information Technology Beijing Jiaotong UniversityBeijing100044China College of Civil Engineering Guizhou UniversityGuiyang550025China Guizhou Lianjian Civil Engineering Quality Inspection Monitoring Center Co. Ltd.Guiyang550025China

Unsupervised methods based on density representation have shown their abilities in anomaly detection,but detection performance still needs to be ***,approaches using normalizing flows can accurately evaluate sample distributions,mapping normal features to the normal distribution and anomalous features outside ***,this paper proposes a Normalizing Flow-based Bidirectional Mapping Residual Network(NF-BMR).It utilizes pre-trained Convolutional Neural Networks(CNN)and normalizing flows to construct discriminative source and target domain feature ***,to better learn feature information in both domain spaces,we propose the Bidirectional Mapping Residual Network(BMR),which maps sample features to these two spaces for anomaly *** two detection spaces effectively complement each other’s deficiencies and provide a comprehensive feature evaluation from two perspectives,which leads to the improvement of detection *** experimental results on the MVTec AD and DAGM datasets against the Bidirectional Pre-trained Feature Mapping Network(B-PFM)and other state-of-the-art methods demonstrate that the proposed approach achieves superior *** the MVTec AD dataset,NF-BMR achieves an average AUROC of 98.7%for all 15 ***,it achieves 100%optimal detection performance in five *** the DAGM dataset,the average AUROC across ten categories is 98.7%,which is very close to supervised methods.

关键词： Anomaly detection normalizing flow source domain feature space target domain feature space bidirectional mapping residual network

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Multi-Agent Graph Reinforcement Learning based On-Demand Wireless Energy Transfer in Multi-UAV-aided IoT Network 21

Multi-Agent Graph Reinforcement Learning based On-Demand Wir...

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21st International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks, WiOpt 2023

作者： Zhao, Ze Yu Che, Yueling Luo, Sheng Wu, Kaishun Leung, Victor C.M. College of Computer Science and Software Engineering Shenzhen University China

ISBN: (纸本)9783903176553

This paper proposes a new on-demand wireless energy transfer (WET) scheme of multiple unmanned aerial vehicles (UAVs). Unlike the existing studies that simply pursuing the total or the minimum harvested energy maximization at the Internet of Things (IoT) devices, where the IoT devices’ own energy requirements are barely considered, we propose a new metric called the hungry-level of energy (HoE), which reflects the time-varying energy demand of each IoT device based on the energy gap between its required energy and the harvested energy from the UAVs. With the purpose to minimize the overall HoE of the IoT devices whose energy requirements are not satisfied, we optimally determine all the UAVs’ trajectories and WET decisions over time, under the practical mobility and energy constraints of the UAVs. Although the proposed problem is of high complexity to solve, by excavating the UAVs’ self-attentions for their collaborative WET, we propose the multi-agent graph reinforcement learning (MAGRL) based approach. Through the offline training of the MAGRL model, where the global training at the central controller guides the local training at each UAV agent, each UAV then distributively determines its trajectory and WET based on the well-trained local neural networks. Simulation results show that the proposed MAGRL-based approach outperforms various benchmarks for meeting the IoT devices’ energy requirements. © 2023 IFIP.

关键词： Reinforcement learning

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Real-Time Monitoring and Control Systems Using IoT-Integrated Wireless Sensor Networks-Leveraging Machine Learning Algorithms for Enhanced Performance and Efficiency

Real-Time Monitoring and Control Systems Using IoT-Integrate...

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2024 International Conference on Cybernation and Computation, CYBERCOM 2024

作者： Swaminathan, Subbiah Poongavanam, N. Arun, M. Pushparani, S. Muthukrishnan, A. Johri, Prashant Rajalakshmi Engineering College Department of Information Technology Tamil Nadu Chennai India Saveetha University Department of Computer Science and Engineering Chennai602105 India Panimalar Engineering College Department of Electronics and Communication Engineering Tamil Nadu Chennai India Meenakshi College of Engineering Department of Computer Science and Engineering Tamil Nadu Chennai600 078 India Vel Tech Rangarajan Dr. Sagunthala R and D Institute of Science and Technology Department of Computer Science and Engineering Tamil Nadu Avadi Chennai India School of Computer Application and Technology Galgotias University India

ISBN: (纸本)9798331542344

This paper introduces a developed real-Time monitoring and control system using Internet of Things (IoT) incorporated Wireless Sensor Networks (WSNs) supported by machines learning algorithms. The system focuses at meeting core issues and questions in terms of productivity, reliability and timeliness within evolving settings. The current paper contributes to the ongoing research and development in the area of IoT and WSN to enable, always-on real-Time data gathering from a variety of discrete sensors which is invaluable for various applications including industrial, environmental and smart city applications. The heart of the system is based on the idea of utilising machine learning methods to acquire and elaborate sensor signals. More specifically, the deep learning models that are used include Long Short-Term Memory (LSTM) networks as well as Reinforcement Learning (RL) algorithms for predictive analytics, as well as anomaly detection. The work also entails a comparison of the system performance based on energy consumption and other factors such as latency, packet delivery ratio and even the accuracy of the predictions made by the system. The findings suggest improved utilisation within substantial ranges;decreased energy use by 30 per cent or more. 7%, latency decrease by 33. Although achieving this was accompanied by an increased data packet loss rate to 3%, the overall packet delivery ratio was boosted to 98%. Additionally, the system established overall accuracy rate of 95% with negligible error percentage. In conclusion, this research proves the applicability of incorporating the IoT and the advanced machine learning methods in the real-Time monitoring and control systems development to overcome cases of low efficiency and reduced performance in numerous real-world applications. © 2024 IEEE.

关键词： Predictive analytics

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Random Forest-Based Oppositional Henry Gas Solubility Optimization Model for Service Attack Improvement in WSN

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Journal of The Institution of Engineers (India): Series B 2022年第3期103卷 939-950页

作者： Jeyalakshmi, S. Sekar, S. Ravikumar, S. Kavitha, D. Department of Information Technology SRM Valliammai Engineering College Chennai India Department of Computer Science and Engineering SRM Valliammai Engineering College Chennai India

A wireless sensor network (WSN) comprises self-organized and homogenous node sets referred to as sensor nodes. Every sensor node in the network contains few limitations on power consumption as well as resource. On the other hand, WSN is considered as the resource constricted network which is subjected to different attacks. However, WSN is greatly vulnerable to denial-of-service (DoS) attacks because it requires synchronization among various nodes. There are various types of DoS attacks situated at several layers. Several attacks on the data link layer caused energy loss due to a dead network. To improve the security of the wireless sensor networks, a mixed kernel extreme learning machine with a random forest-based oppositional Henry gas solubility optimization algorithm (MKELMRF-OHGSA) is developed to isolate and detect the attacks in the data transmission stage. In this paper, the approach for the effective identification of DoS attacks in the data link layer such as unfairness, resource exhaustion, collision and eavesdropping attacks is explained. The experimental simulation is conducted on the performance measures such as detection rate, network lifetime, packet delivery ratio accuracy, false alarm rate, and throughput to precisely isolate the attackers. The evaluation results describe that the proposed approach achieves an average detection rate of 98% when compared with other approaches. © 2022, The Institution of Engineers (India).

关键词： Denial-of-service attack

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