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An Integrated Control Framework for Safe and Ergonomic Human-Drone Interaction in Industrial Warehouses

IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3570-3585页

作者： Proia, Silvia Cavone, Graziana Scarabaggio, Paolo Carli, Raffaele Dotoli, Mariagrazia University of Modena and Reggio Emilia Department of Sciences and Methods for Engineering Modena41121 Italy University Roma Tre Department of Civil Computer Science and Aeronautical Technologies Engineering Rome00154 Italy Polytechnic of Bari Department of Electrical and Information Engineering Bari70126 Italy

This study introduces a novel control framework for human-drone interaction (HDI) in industrial warehouses, targeting pick-and-delivery operations. The goals are to enhance operator safety as well as well-being and, at the same time, to improve efficiency and reduce production costs. To these aims, the speed and separation monitoring (SSM) operation method is employed for the first time in HDI, drawing an analogy to the safety requirements outlined in collaborative robots' ISO standards. The so-called protective separation distance is used to ensure the safety of operators engaged in collaborative tasks with drones. In addition, we employ the rapid upper limb assessment (RULA) method to evaluate the ergonomic posture of operators during interactions with drones. To validate the proposed approach in a realistic industrial setting, a quadrotor is deployed for pick-and-delivery tasks along a predefined trajectory from the picking bay to the palletizing area, where the interaction between the drone and a moving operator takes place. The drone navigates toward the interaction space while avoiding collisions with shelves and other drones in motion. The control strategy for the drone cruise navigation integrates simultaneously the time-variant artificial potential field (APF) technique for trajectory planning and the iterative linear quadratic regulator (LQR) controller for trajectory tracking. Differently, in the descent phase, the receding horizon LQR algorithm is employed to follow a trajectory planned in accordance with the SSM, which starts from the approach point at the border of the interaction space and ends in the volume with the operator's minimum RULA. The presented control strategy facilitates drone management by adapting the drone's position to changes in the operator's position while satisfying HDI safety requirements. The results of the proposed HDI framework simulations for the case study demonstrate the effectiveness of the method in ensuring a safe and er

关键词： ISO Standards

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Chaos-Based Novel Watermarked Satellite Image Encryption Scheme

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computer Modeling in Engineering & sciences 2025年第4期143卷 1049-1070页

作者： Mohamed Medani Yahia Said Nashwan Adnan Othman Farrukh Yuldashev Mohamed Kchaou Faisal Khaled Aldawood Bacha Rehman Applied College of Muhayil Aseer King Khalid UniversityAbha62529Saudi Arabia Center for Scientific Research and Entrepreneurship Northern Border UniversityArar73213Saudi Arabia Department of Computer Engineering College of EngineeringKnowledge UniversityErbil44001Iraq Department of Computer Engineering Al-Kitab UniversityAltun Kupri36001Iraq Department of Informatics and Its Teaching Methods Tashkent State Pedagogical UniversityTashkent100070Uzbekistan Department of Industrial Engineering College of EngineeringUniversity of BishaBishaP.O.Box 001Saudi Arabia Department of Computer Science Solent UniversitySouthamptonSO140YNUK

Satellite images are widely used for remote sensing and defence applications,however,they are subject to a variety of *** ensure the security and privacy of these images,theymust be watermarked and encrypted before ***,this paper proposes a novel watermarked satellite image encryption scheme based on chaos,Deoxyribonucleic Acid(DNA)sequence,and hash *** watermark image,DNA sequence,and plaintext image are passed through the Secure Hash Algorithm(SHA-512)to compute the initial condition(keys)for the Tangent-Delay Ellipse Reflecting Cavity Map(TD-ERCS),Henon,and Duffing chaotic maps,*** bitwise XOR and substitution,the TD-ERCS map encrypts the watermark *** ciphered watermark image is embedded in the plaintext *** embedded plaintext image is permuted row-wise and column-wise using the Henon chaotic *** permuted image is then bitwise XORed with the values obtained from the Duffing *** additional security,the XORed image is substituted through a dynamic *** evaluate the efficiency and performance of the proposed algorithm,several tests are performed which prove its resistance to various types of attacks such as brute-force and statistical attacks.

关键词： DNA sequence TD-ERCS chaoticmap henon chaoticmap duffing chaotic system SHA-512 encryption technique watermark embedding

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Multi-Traffic Targets Tracking Based on an Improved Structural Sparse Representation with Spatial-Temporal Constraint

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Chinese Journal of Electronics 2022年第2期31卷 266-276页

作者： YANG Honghong SHANG Junchao LI Jingjing ZHANG Yumei WU Xiaojun Key Laboratory of Modern Teaching Technology Ministry of EducationShaanxi Normal University School of Computer Science Shaanxi Normal University School of Journalism and Communication Shaanxi Normal University

Vehicles or pedestrians tracking is an important task in intelligent transportation system. In this paper, we propose an online multi-object tracking for intelligent traffic platform that employs improved sparse representation and structural constraint. We first build the spatial-temporal constraint via the geometric relations and appearance of tracked objects, then we construct a robust appearance model by incorporating the discriminative sparse representation with weight constraint and local sparse appearance with occlusion analysis. Finally, we complete data association by using maximum a posteriori in a Bayesian framework in the pursuit for the optimal detection estimation. Experimental results in two challenging vehicle tracking benchmark datasets show that the proposed method has a good tracking performance.

关键词： road vehicles multiobject tracking target tracking improved structural sparse representation object tracking Bayes methods image representation robust appearance model object detection data association pedestrians intelligent traffic platform optimisation road traffic geometric relations local sparse appearance optimal detection estimation spatial-temporal constraint intelligent transportation system multitraffic targets tracking weight constraint pedestrians tracking Bayesian framework occlusion analysis intelligent transportation systems

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Monte Carlo Simulation-Based Robust Workflow Scheduling for Spot Instances in Cloud Environments

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Tsinghua science and Technology 2024年第1期29卷 112-126页

作者： Quanwang Wu Jianzhao Fang Jie Zeng Junhao Wen Fengji Luo College of Computer Science Chongqing UniversityChongqing 400044China National Experimental Teaching Demonstration Center Chongqing UniversityChongqing 400044China College of Big Data and Software Engineering Chongqing UniversityChongqing 400044China School of Civil Engineering The University of SydneySydney 2006Australia

When deploying workflows in cloud environments,the use of Spot Instances(SIs)is intriguing as they are much cheaper than on-demand ***,Sls are volatile and may be revoked at any time,which results in a more challenging scheduling problem involving execution interruption and hence hinders the successful handling of conventional cloud workflow scheduling *** some scheduling methods for Sls have been proposed,most of them are no more applicable to the latest Sls,as they have evolved by eliminating bidding and simplifying the pricing *** study focuses on how to minimize the execution cost with a deadline constraint when deploying a workflow on volatile Sls in cloud *** on Monte Carlo simulation and list scheduling,a stochastic scheduling method called MCLS is devised to optimize a utility function introduced for this *** the Monte Carlo simulation framework,MCLS employs sampled task execution time to build solutions via deadline distribution and list scheduling,and then returns the most robust solution from all the candidates with a specific evaluation mechanism and selection *** results show that the performance of MCLS is more competitive comparedwithtraditionalalgorithms.

关键词： constrained optimization Monte Carlo simulation robustness Spot Instances(Sls) workflow scheduling

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Code Comprehension in a Multi-Paradigm Environment: Background and Experimental Setup 15

Code Comprehension in a Multi-Paradigm Environment: Backgrou...

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15th Seminar on Advanced Techniques and Tools for Software Evolution, SATToSE 2023

作者： Floor, Daniël van Hees, Rinse Zaytsev, Vadim Computer Science University of Twente Enschede Netherlands Info Support Veenendaal Netherlands Formal Methods & Tools University of Twente Enschede Netherlands

Code comprehension, a fundamental asset in software development and its maintenance, is influenced by the programming paradigms employed. Comprehending code takes up a major part of the maintenance process. This study forms a basis in discovering the relation between code comprehension and multi-paradigm usage. The different paradigms covered here are Object-oriented programming and functional programming. To measure the possible impact an experimental setup is designed that will help capturing quantitative and qualitative data. The decision of using interviews as study experiment allows for the capturing of the qualitative data necessary for an in-depth exploration of comprehension strategies and participants’ cognitive reasoning. The interviews will use Kotlin code snippets, this choice harmonises with participants’ familiarity with Java, which serves as a foundation, and the design of interview questions, which prioritise the comprehension of code and the unravelling of its underlying purpose. This paper provides the background and experimental setup that allows to investigate the relationship between code comprehension and multi-paradigm usage. © 2023 Copyright for this paper by its authors.

关键词： Functional programming

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Digital Competence of Specialists: Development Technology in a Higher Education Institution 14

Digital Competence of Specialists: Development Technology in...

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14th International Conference on Advanced computer Information Technologies, ACIT 2024

作者： Henseruk, Halyna Martyniuk, Serhii Vasylenko, Oksana Henseruk, Yuliia Henseruk, Viktor Habrusiev, Valerii Ternopil Volodymyr Hnatiuk National Pedagogical University Department of Computer Science and Teaching Methods Ternopil Ukraine Anhalt University of Applied Sciences Department of Theory and Practice of Translation Köthen Germany Ternopil Volodymyr Hnatiuk National Pedagogical University Department of English Philology and Methods of Teaching English Ternopil Ukraine Ternopil Volodymyr Hnatiuk National Pedagogical University Department of Pedagogy and Management of Education Ternopil Ukraine

ISBN: (纸本)9798350350036

In a digital society, professionals who are professionally competent and have a variety of skills are increasingly in demand. Digital skills are important and form the basis of the digital competence of specialists. The purpose of the study is to analyse regulatory documents in the context of the development of digital competence of specialists, to develop, substantiate and implement the trajectory of its development in a higher education institution. A questionnaire for self-assessment by bachelor's and master's students and practitioners of their own level of digital competence has been developed, which contains 12 descriptors and their detailed description. Based on the analysis of regulatory documents and the survey results, the author outlines the need to include disciplines in the training programmes for specialists that would contribute to the development of their digital competence. The authors have developed a technology for the system of development of digital competence of specialists. The design stage is substantiated, which includes three blocks: academic disciplines, self-education and professional self-development. The role of professional disciplines in digital technologies in the development of digital competence of specialists is determined. The study emphasises that continuity and continuity in the training of specialists in the context of the use of digital technologies in various aspects of activity is important in this development. © 2024 IEEE.

关键词： Students

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Automatic essay scoring for discussion forum in online learning based on semantic and keyword similarities

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Asian Association of Open Universities Journal 2023年第3期18卷 262-278页

作者： Dhini, Bachriah Fatwa Girsang, Abba Suganda Sufandi, Unggul Utan Kurniawati, Heny Department of Multimedia Teaching Material Production Center Universitas Terbuka Tangerang Selatan Indonesia Computer Science Department BINUS Graduate Program Master of Computer Science Bina Nusantara University Jakarta Indonesia Faculty of Sains and Technology Universitas Terbuka Tangerang Selatan Indonesia

Purpose: The authors constructed an automatic essay scoring (AES) model in a discussion forum where the result was compared with scores given by human evaluators. This research proposes essay scoring, which is conducted through two parameters, semantic and keyword similarities, using a SentenceTransformers pre-trained model that can construct the highest vector embedding. Combining these models is used to optimize the model with increasing accuracy. Design/methodology/approach: The development of the model in the study is divided into seven stages: (1) data collection, (2) pre-processing data, (3) selected pre-trained SentenceTransformers model, (4) semantic similarity (sentence pair), (5) keyword similarity, (6) calculate final score and (7) evaluating model. Findings: The multilingual paraphrase-multilingual-MiniLM-L12-v2 and distilbert-base-multilingual-cased-v1 models got the highest scores from comparisons of 11 pre-trained multilingual models of SentenceTransformers with Indonesian data (Dhini and Girsang, 2023). Both multilingual models were adopted in this study. A combination of two parameters is obtained by comparing the response of the keyword extraction responses with the rubric keywords. Based on the experimental results, proposing a combination can increase the evaluation results by 0.2. Originality/value: This study uses discussion forum data from the general biology course in online learning at the open university for the 2020.2 and 2021.2 semesters. Forum discussion ratings are still manual. In this survey, the authors created a model that automatically calculates the value of discussion forums, which are essays based on the lecturer's answers moreover rubrics. © 2023, Bachriah Fatwa Dhini, Abba Suganda Girsang, Unggul Utan Sufandi and Heny Kurniawati.

关键词： Discussion forum Essay scoring Keyword similarity Semantic similarity

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Leveraging Machine Learning for Crime Intent Detection in Social Media Posts 1st

Leveraging Machine Learning for Crime Intent Detection in ...

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1st International Conference on AI-generated Content, AIGC 2023

作者： Bokolo, Biodoumoye George Onyehanere, Praise Ogegbene-Ise, Ebikela Olufemi, Itunu Tettey, Josiah Nii Armah Department of Computer Science Sam Houston State University HuntsvilleTX77340 United States Department of Architecture Technology and Engineering University of Brighton BrightonBN2 4AT United Kingdom Department of Computer and Software Engineering Kennesaw State University KennesawGA United States Department of Computer Science and Quantitative Methods Austin Peay State University ClarksvilleTN37044 United States Department of Computer Science and Engineering Wright State University DaytonOH45435 United States

ISBN: (纸本)9789819975860

Detecting crime intent from user-generated content on social media platforms has become increasingly important for law enforcement and crime prevention. This paper presents a comprehensive approach for crime intent detection from user tweets using machine learning techniques. The study utilizes a dataset of about 400,000 tweets and applies data preprocessing, feature selection, and model training with logistic regression, ridge regression classifier, Stochastic Gradient Descent (SGD) classifier, Random Forests, and support vector machine models. Evaluation metrics such as accuracy, precision, recall, and F1 score are employed to assess the models’ performance. The results reveal that the logistic regression model achieves the highest accuracy ratio of 0.981 in detecting crime intent from tweets. This research showcases the effectiveness of machine learning and advanced transformer-based models in leveraging social media data for crime analysis. The findings provide valuable insights into the potential for early detection and monitoring of crime intent using online platforms, contributing to the field of crime prevention and law enforcement. The utilization of machine learning techniques offers new avenues for understanding and analyzing crime-related sentiments expressed by social media users. By accurately detecting crime intent from user-generated content, law enforcement agencies can enhance their proactive measures, monitor public sentiment towards crime, and shape policies and interventions to address public concerns effectively. The research highlights the significance of leveraging social media data for crime detection and emphasizes the potential impact of advanced machine learning models in improving public safety and crime prevention efforts. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Sentiment analysis

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MUTUAL COVERINGS OF CONES OF MONOTONE FUNCTIONS AND ESTIMATES OF THEIR INTEGRAL MAJORANTS

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Journal of Mathematical sciences (United States) 2023年第6期271卷 714-732页

作者： Bakhtigareeva, E.G. Goldman, M.L. Karshygina, G. Zh. Department of Function Theory Steklov Mathematical Institute of Russian Academy of Sciences 8 Gubkina Street Moscow 119991 Russian Federation Department of Methods of Teaching Mathematics and Computer Science Karaganda Buketov University 28 University Street Karaganda 100024 Kazakhstan

Questions of mutual covering and equivalence of cones of monotone functions and the corresponding estimates of their majorants are studied. Two types of coverings are considered: pointwise and integral. They correspond to pointwise and integral estimates of the majorants on these cones. The results obtained are used to derive formulas that allow estimating pointwise and integral majorants of decreasing rearrangements for generalized Riesz and Bessel potentials. © 2023, The Author(s), under exclusive licence to Springer Nature Switzerland AG.

关键词： Cones of decreasing rearrangements of potentials Cones of monotone functions Generalized Riesz potentials Integral majorants on cones Pointwise and integral coverings

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Leveraging federated learning and edge computing for recommendation systems within cloud computing networks 3

Leveraging federated learning and edge computing for recomme...

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3rd International Symposium on computer Applications and Information Systems, ISCAIS 2024

作者： Feng, Yuan Qi, Yaqian Li, Hanzhe Wang, Xiangxiang Tian, Jingxiao Interdisciplinary Data Science Duke University NC United States Quantitative Methods and Modeling Baruch Collegue CUNY Lexington Ave NY55 United States Computer Engineering New York University NY United States Computer Science University of Texas at Arlington ArlingtonTX United States Electrical and Computer Engineering San Diego State University SD United States

ISBN: (纸本)9781510681316

To enable large-scale and efficient deployment of artificial intelligence (AI), the combination of AI and edge computing has spawned Edge Intelligence, which leverages the computing and communication capabilities of end devices and edge servers to process data closer to where it is generated. A key technology for edge intelligence is the privacy-protecting machine learning paradigm known as Federated Learning (FL), which enables data owners to train models without having to transfer raw data to third-party servers. However, FL networks are expected to involve thousands of heterogeneous distributed devices. As a result, communication efficiency remains a key bottleneck. To reduce node failures and device exits, a Hierarchical Federated Learning (HFL) framework is proposed, where a designated cluster leader supports the data owner through intermediate model aggregation. Therefore, based on the improvement of edge server resource utilization, this paper can effectively make up for the limitation of cache capacity. In order to mitigate the impact of soft clicks on the quality of user experience (QoE), the authors model the user QoE as a comprehensive system cost. To solve the formulaic problem, the authors propose a decentralized caching algorithm with federated deep reinforcement learning (DRL) and federated learning (FL), where multiple agents learn and make decisions independently. © 2024 SPIE.

关键词： Edge computing

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