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Advancing general robotic manipulation with multimodal foundation models: An embodied AI paradigm

Science China Technological Sciences 2025年第5期68卷 294-296页

作者： Shifeng HUANG He WANG Xing ZHOU Wenkai CHEN Haibin YANG Jianwei ZHANG Department of Mechanical and Aerospace Engineering Hong Kong University of Science and Technology Foshan Institute of Intelligent Equipment Technology Foshan Huashu Robot Co. Ltd. Center on Frontiers of Computing Studies (CFCS) School of Computer SciencePeking University Beijing Academy of Artificial Intelligence Department of Informatics Universit?t Hamburg

Can current robotic technologies truly replicate the full scope and intricacies of human labour? In practice, the adoption of robots remains limited, especially in open, unstructured environments commonly encountered in everyday scenarios such as services, healthcare, agriculture,construction, and numerous other fields. From the perspective of general robotic manipulation, the challenges arise from three factors.

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An Explainable Artificial Intelligence model in the assessment of Brain MRI Lesions in Multiple Sclerosis using Amplitude Modulation - Frequency Modulation multi-scale feature sets 24

An Explainable Artificial Intelligence model in the assessme...

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24th International Conference on Digital Signal Processing, DSP 2023

作者： Nicolaou, Andria Kakas, Antonis Pattichis, Constantinos S. Pattichis, Marios S. Fotso, Kevin Loizou, Christos P. Pantzaris, Marios Department of Computer Science University of Cyprus Nicosia Cyprus Department of Electrical Engineering and Computer Engineering University of New Mexico United States Department of Electrical Engineering and Computer Engineering and Informatics Cyprus University of Technology Limassol Cyprus Cyprus Institute of Neurology and Genetics Nicosia Cyprus

ISBN: (纸本)9798350339598

The objective of this study was to implement an explainable artificial intelligence (AI) model with embedded rules to assess Multiple Sclerosis (MS) disease evolution based on brain Magnetic Resonance Imaging (MRI) multi-scale lesion evaluation. Amplitude Modulation-Frequency Modulation (AM-FM) features were extracted from manually segmented brain MS lesions obtained using MRI and were labeled with the Expanded Disability Status Scale (EDSS). Machine learning models were used to classify the MS subjects with a benign course of the disease and subjects with advanced accumulating disability. Rules were extracted from the selected model with high accuracy and then were modified to perform argumentation-based reasoning. It is demonstrated that the proposed explainable AI modeling can distinguish MS subjects and give meaningful information to track the progression of the disease. Future research will examine more subjects and add new feature sets and models. © 2023 IEEE.

关键词： Frequency modulation

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A Machine Learning-Based Privacy-Preserving Approach to Incorporate Distributed Generators in AC Optimal Power Flow

A Machine Learning-Based Privacy-Preserving Approach to Inco...

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2024 IEEE PES Innovative Smart Grid Technologies Europe Conference, ISGT EUROPE 2024

作者： Dindar, Burak Saner, Can Berk Polat, Dogukan Yigit Çakmak, Huseyin Kemâl Hagenmeyer, Veit Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Germany National University of Singapore Department of Electrical and Computer Engineering Singapore National University of Singapore School of Computing Singapore

ISBN: (纸本)9789531842976

In order to achieve the goal of a carbon-neutral power system, significant changes to the power grid are underway, necessitating enhanced interoperability between Transmission System Operators (TSOs) and Distribution System Operators (DSOs) for effective grid operation, particularly in light of the growing number of distributed generators (DGs). Data privacy concerns, however, complicate decision-making processes, particularly when integrating DGs into system-wide dispatch decisions. In this paper, we propose a machine-learning (ML)-based method to incorporate DGs located within the distribution system (DS) into dispatch decisions, adhering to data privacy by mitigating the exchange of sensitive data, such as system topology and demand profiles, between TSOs and DSOs. The methodology involves training three ML models to represent the behavior of the DS, thereby replacing the standard power flow model that contains sensitive information. Notably, we utilize a novel tailored neural network (NN) architecture to enhance computational efficiency in mapping the feasible region of the DS. Additionally, we employ open-source data to construct the Baden-Wü rttemberg (Germany) electricity grid, allowing to test our method not only on standard systems but also on a model that more accurately represents real-world power systems. The numerical case studies verify that the proposed method achieves results comparable to standard AC optimal power flow (AC-OPF) in both cost-optimality and computational time. © 2024 IEEE.

关键词： Differential privacy

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Apply Combined Model Between VGG16 and LightGBM on Weather Image Recognition

Apply Combined Model Between VGG16 and LightGBM on Weather I...

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2023 RIVF International Conference on Computing and Communication Technologies, RIVF 2023

作者： Quy Nam, Tran Syamsuddin, Irfan Posts and Telecommunications Institute of Technology Hanoi Viet Nam Politeknik Negeri Ujung Department of Informatics & Computer Engineering Pandang Indonesia

ISBN: (纸本)9798350315844

This research implements hybrid deep learning network models for weather image classification. The study proposes to apply a combined model, namely VGG16-LightGBM. In its architecture model, a pre-train convolutional neural network (CNN) name as VGG16 is employed for feature extraction of images and the LightGBM algorithm is used to make classification. The results on accuracy of proposed models were compared with four other models, namely Xception, Inception V3,Vgg19, Vgg16 which are all implemented by transfer learning mechanism on the same dataset. The experimental results proved that the VGG16-LightGBM gives the best performance with the highest accuracy of 81,28%, outperforms the transfer learning technique of other 4 pre-train models in the problem of weather image classification. © 2023 IEEE.

关键词： Image classification

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An Energy-Efficient Protocol for Internet of Things Based Wireless Sensor Networks

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computers, Materials & Continua 2023年第5期75卷 2397-2412页

作者： Mohammed Mubarak Mustafa Ahmed Abelmonem Khalifa Korhan Cengiz Nikola Ivkovic Department of Information Technology Sri Krishna College of Engineering&TechnologyCoimbatoreIndia Department of Networking and Security College of Information TechnologyUniversity of FujairahFujairahUAE Switching and Traffic Department National Telecommunication InstituteCairoEgypt Department of Computer Engineering Istinye UniversityZeytinburnuIstanbulTurkey Faculty of Organization and Informatics University of ZagrebVarazdinCroatia

The performance of Wireless Sensor Networks(WSNs)is an important fragment of the Internet of Things(IoT),where the current WSNbuilt IoT network’s sensor hubs are enticing due to their critical *** grouping hubs,a clustering convention offers a useful solution for ensuring energy-saving of hubs andHybridMedia Access Control(HMAC)during the course of the ***,current grouping standards suffer from issues with the grouping structure that impacts the exhibition of these conventions *** this investigation,we recommend an Improved Energy-Proficient Algorithm(IEPA)for HMAC throughout the lifetime of the WSN-based *** consecutive segments are *** the covering of adjusted clusters,an ideal number of clusters is determined ***,fair static clusters are shaped,based on an updated calculation for fluffy cluster heads,to reduce and adapt the energy use of the sensor *** heads(CHs)are,ultimately,selected in optimal locations,with the pivot of the cluster heads working among cluster ***,the proposed convention diminishes and balances the energy utilization of hubs by improving the grouping structure,where the IEPAis reasonable for systems that need a long *** assessment results demonstrate that the IEPA performs better than existing conventions.

关键词： Energy consumption improved energy-proficient algorithm internet of things wireless sensor network

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A hybrid deep learning approach for phenotype prediction from clinical notes

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Journal of Ambient Intelligence and Humanized Computing 2023年第4期14卷 4503-4513页

作者： Khalafi, Sahar Ghadiri, Nasser Moradi, Milad Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan84156-83111 Iran Institute for Artificial Intelligence Center for Medical Statistics Informatics and Intelligent Systems Medical University of Vienna Vienna Austria

Identifying patient cohorts from clinical notes in secondary use of electronic health records is a fundamental task in clinical information management. The patient cohort identification process requires identifying the patient phenotypes. However, the growing number of clinical notes makes it difficult to analyze the data manually. Therefore, automatically extracting clinical concepts is crucial to identify patient phenotypes correctly. This paper’s proposed hybrid model is based on a neural bidirectional sequence model (BiLSTM or BiGRU) and a Convolutional Neural Network (CNN) for identifying patients’ phenotypes in clinical notes. Furthermore, an extra CNN layer is run parallel to the hybrid proposed model to extract more features related to each phenotype. We used pre-trained embeddings such as FastText and Word2vec separately as the input layers to evaluate other embedding’s performance in identifying patient phenotypes. We also measured the effect of adding additional data cleaning steps on discharge reports to identify patient phenotypes using deep learning models. Results demonstrated the proposed hybrid model extracts more features than existing methods of patient phenotype extraction and provides a better F1-score. We show that complementing the proposed hybrid model with an extra CNN in identifying different phenotypes improves the F1 scores. In addition, eliminating punctuation, numbers, and stop words in discharge reports before training hybrid models increased model performance. © 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Embeddings

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Alapana Generation using Finite State Machines and Generative Adversarial Networks

Alapana Generation using Finite State Machines and Generativ...

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2023 International Research Conference on Smart Computing and Systems engineering, SCSE 2023

作者： Jayatharan, Vithushigan Alwis, Dileeka University of Westminster Computer Science and Engineering London United Kingdom Informatics Institute of Technology Department of Computing Colombo Sri Lanka

ISBN: (纸本)9798350341454

The recent advancements in deep learning techniques and computational power have promoted the development of novel approaches for music generation. In this study, generating alapana, an improvisational form of Carnatic music was proposed, by leveraging Generative Adversarial Networks (GANs) and Finite State Machines (FSM). The goal is to create melodious alapana sequences that follow a given input Raga, ensuring continuity and coherence throughout the generated musical piece. The proposed approach incorporates Carnatic music theory rules into the generation process to enhance the structural coherence of the generated alapana. Additionally, various hyperparameter settings were explored to achieve the best performance. The Fréchet Audio Distance, Percentage of Correct Pitches and the Subjective evaluation through human listeners are the evaluation metrics of this approach. The result of this study demonstrates the potential of using GANs and FSM for generating continuous and pleasing alapana sequences in Carnatic music, contributing to the growing body of research in computational music generation. © 2023 IEEE.

关键词： Music

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The Effects of Weather Conditions on Data Transmission in Free Space for Wireless Sensor Networks 3rd

The Effects of Weather Conditions on Data Transmission in Fr...

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3rd International Conference on Computing and Communication Networks, ICCCN 2023

作者： Kadhim, Aqeel A. Naif, Jolan R. Salman, Muna M. Hoomod, Haider K. Computer Techniques Engineering Department Imam AlKadhim University College Baghdad Iraq Informatics Institute for Postgraduate Studies Iraqi Commission for Computers and Informatics Baghdad Iraq Information Technology Directorate Ministry of Science and Technology Baghdad Iraq College of Education Computer Science Department Al-Mustansiriya University Baghdad Iraq

ISBN: (纸本)9789819708918

It is necessary to collect data measured in open lands, whether for example for monitoring purposes or for border protection. The process of data transmission from active nodes and its next level to the cluster head (CH), followed by follow-up to arrive at the base station (BS), with safety and acceptability, are the main objectives of wireless sensor networks (WSNs). The key benefits of wireless systems are low-cost system installation and loss-free data transfer. Weather conditions in the spacious area affect wireless data transmission that is done between sensor nodes in free space. This study attempted to ascertain the influence of atmospheric and meteorological conditions on the loss of data when utilizing the wireless data transmission systems in a wireless sensor network. For this reason, the volume of data transfer losses that happen in free space because of three types of weather conditions is the main discussion point. The meteorological criteria that can be considered in this research are temperature, clear weather, dust, and rain as the weather elements that affect the Iraqi climate. The correlation analysis's outcomes show that the amount of precipitation and the size of raindrops have a main effect on the losses of data transmission. From a practical point of view, there is no confirmed statistical evidence of the amount of loss in the volume of transmitted data as a result of the amount of rainfall with the use of different transmission frequencies. In this research, we designed an objective routing protocol called Fuzzy Clustering with Ant Colony System FCACS, which has been utilized as a simulation program using the MATLAB 2018b application. The practical results of the proposed protocol for data transmission in free space and under different weather conditions were examined, and the simulation results were compared with those of two well-known routing protocols, which are DEEC and Z-SEP. In terms of the quantity of data received from the CH or BS a

关键词： Data transfer

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Auto-Handover Gateway LoRaWAN based on Autonomous Vehicles 10

Auto-Handover Gateway LoRaWAN based on Autonomous Vehicles

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10th IEEE Information technology International Seminar, ITIS 2024

作者： Purnama, Iwan Pane, Rahmadani Sooai, Adri Gabriel Edi, Firman Chamid, Ahmad Abdul Adi, Puput Dani Prasetyo Universitas Labuhanbatu Faculty of Science and Technology Department of Information Technology Labuhanbatu Indonesia Universitas Katolik Widya Mandira Faculty of Computer Science Department of Computer Engineering NTT Kupang Indonesia Batam Institute of Technology Faculty of Industrial Technology Department of Engineering Management Batam City Indonesia Muria Kudus University Department of Informatics Engineering Kudus Indonesia Department of Telecommunication Bandung Indonesia

ISBN: (纸本)9798331521295

This article presents a simulation study on the use of LoRaWAN technology in autonomous vehicles. The research focuses on developing an Auto-Handover Gateway for Autonomous Vehicles, utilizing LoRaWAN parameters such as bit rates, spreading factor (SF), packet loss, and received signal strength. These parameters are tested in simulations of autonomous vehicle movements, which include both regular and random motion patterns. The aim is to assess the performance of LoRaWAN in different scenarios and its impact on communication in autonomous vehicle systems. The simulation results show several key trends. As the vehicle moves further, the spreading factor (SF) increases, and bit rates tend to decrease, indicating a drop in communication performance over longer distances. The research also identifies that the gateway with the closest proximity to the vehicle is selected, both in random and non-random movement scenarios. Additionally, packet loss increases as the distance between the vehicle and the gateway grows, highlighting the challenges of maintaining reliable communication over long distances. These findings provide insights into optimizing LoRaWAN parameters for real-time communication in autonomous vehicles, contributing to the development of intelligent vehicle networks. © 2024 IEEE.

关键词： Packet loss

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Exploring Network Dynamics: Community Detection and Influencer Analysis in Multidimensional Social Networks

Exploring Network Dynamics: Community Detection and Influenc...

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2024 IEEE International Conference on Big Data, BigData 2024

作者： Kanavos, Andreas Vonitsanos, Gerasimos Karamitsos, Ioannis Al-Hussaeni, Khalil Ionian University Department of Informatics Corfu Greece University of Patras Computer Engineering and Informatics Department Patras Greece Rochester Institution of Technology Dubai United Arab Emirates Rochester Institute of Technology Computing Sciences Department Dubai United Arab Emirates

ISBN: (纸本)9798350362480

In the digital era, multidimensional social networks have become integral to daily communication, catering to diverse relational needs, from interpersonal to professional and commercial. This study utilizes two comprehensive datasets from Twitter to explore and visualize user interactions within these networks. Focusing on advanced community detection algorithms, we apply the Louvain and Label Propagation methods to delineate the structure of these communities and identify influential users effectively. Through systematic analysis, our research reveals significant insights into the dynamics of network clusters and the pivotal role of influencers. We demonstrate that community structures significantly influence in formation dissemination and user engagement, providing key data to optimize digital communication strategies in complex environments. The findings underscore the importance of strategic influencer engagement and tailored community management in enhancing interaction within multidimensional social networks. Additionally, our results suggest that understanding the network's structural nuances can aid in developing targeted interventions that leverage influencer capabilities to maximize communication impact, illustrating potential applications across various sectors, including marketing, politics, and public health. © 2024 IEEE.

关键词： Tweets

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