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Robust tube-based MPC with smooth computation for dexterous robot manipulation

Science China(Information Sciences) 2024年第11期67卷 252-268页

作者： Yu LUO Tianying JI Fuchun SUN Qie SIMA Huaping LIU Mingxuan JING Jianwei ZHANG Department of Computer Science and Technology Tsinghua University Science & Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences Department of Informatics University of Hamburg

Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.

关键词： dexterous robot manipulation model predictive control smooth computation

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ToSiM-IoT: Towards a Sustainable Optimisation of Machine Learning Tasks in Internet of Things

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IEEE Internet of Things Journal 2025年第11期12卷 16829-16840页

作者： Kaushal, Ashish Almurshed, Osama Muftah, Asmail Auluck, Nitin Rana, Omer Indian Institute of Technology Department of Computer Science and Engineering Ropar India Cardiff University School of Computer Science and Informatics United Kingdom Azzaytuna University Libya

With the rise of digital infrastructure and Internet of Things (IoT), a substantial amount of data is continuously generated that needs to be processed efficiently. While modern artificial intelligence (AI) approaches have shown good capabilities in handling large volumes of data, their excessive demands for memory and processing power result in very high utilisation of resources. In this work, we propose ToSiM-IoT, an optimisation framework that introduces a layer selection approach to identify an ideal mix of active, and inactive layers, using a genetic algorithm for model training. Next, we design a pruning mechanism that identifies performance-critical features using heatmap visualisation, during model inference, and eliminates the remaining features. Two machine learning (ML) models - InceptionV3 and VGG16, have been evaluated on an agricultural weed detection scenario, using the DeepWeeds image classification dataset. Experimental results demonstrate that our framework can achieve a significant reduction in model size and training time, while maintaining high accuracy, for both models. Therefore, this approach provides the potential to be efficiently deployed on intelligent IoT systems where computational capabilities are limited. © 2025 IEEE.

关键词： Adversarial machine learning

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Blockchain-based knowledge-aware semantic communications for remote driving image transmission

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Digital Communications and Networks 2025年第2期11卷 317-325页

作者： Yangfei Lin Tutomu Murase Yusheng Ji Wugedele Bao Lei Zhong Jie Li Department of Computer and Network Engineering University of Electro-Communications Information Technology Center Nagoya University National Institute of Informatics(NII) Hohhot Minzu College Toyota Motor Corporation Department of Computer Science and Engineering Shanghai Jiaotong University

Remote driving, an emergent technology enabling remote operations of vehicles, presents a significant challenge in transmitting large volumes of image data to a central server. This requirement outpaces the capacity of traditional communication methods. To tackle this, we propose a novel framework using semantic communications, through a region of interest semantic segmentation method, to reduce the communication costs by transmitting meaningful semantic information rather than bit-wise data. To solve the knowledge base inconsistencies inherent in semantic communications, we introduce a blockchain-based edge-assisted system for managing diverse and geographically varied semantic segmentation knowledge bases. This system not only ensures the security of data through the tamper-resistant nature of blockchain but also leverages edge computing for efficient management. Additionally, the implementation of blockchain sharding handles differentiated knowledge bases for various tasks, thus boosting overall blockchain efficiency. Experimental results show a great reduction in latency by sharding and an increase in model accuracy, confirming our framework's effectiveness.

关键词： Semantic communication Remote driving Semantic segmentation Blockchain Knowledge base management

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Explainable Emotion Recognition in Social Networks with Transformers 24

Explainable Emotion Recognition in Social Networks with Tran...

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24th IEEE/ACIS International Conference on computer and Information Science, ICIS 2024

作者： Perikos, Isidoros Pylarinou, Chara University of Patras Computer Technology Institute and Press 'Diophantus' Computer Engineering and Informatics Department Patras Greece University of Patras Computer Engineering and Informatics Department Patras Greece

ISBN: (纸本)9798350376647

Emotion recognition in text has become an essential research area within artificial intelligence and natural language processing due to its applications in sentiment analysis, human-computer interaction, and social media analysis. This paper introduces an approach for emotion recognition in social networks using transformer models enhanced with explainability techniques. By leveraging the advanced capabilities of transformers to analyze and classify emotions in written content, our finetuned models achieves high accuracy in identifying emotions according to the Ekman emotional model. The integration of LIME and SHAP provides transparency and interpretability to our model, making it more trustworthy for practical applications. Our findings indicate that models like XLNET report an exceptional performance in emotion recognition tasks. The explainability techniques illustrate the transformer model decision-making processes and the way that they utilize words and their continual information in sentences. © 2024 IEEE.

关键词： Distribution transformers

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Enhancing Data Privacy and Accountability in Smart Grids with Blockchain technology

Enhancing Data Privacy and Accountability in Smart Grids wit...

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2024 International Conference on Electrical, Electronics and Computing Technologies, ICEECT 2024

作者： Indiravathi, G. Kumar, M.P. Usha, Anumulagundam Kumar, Roshan Lohith, T. Shahid, Shaik Siddharth Institute of Engineeringand Technology Department of Computer Science and Engineering Andhra Pradesh Chittoor India Andhra Pradesh Chittoor India

ISBN: (纸本)9798350378092

Smart grids offer promising opportunities for energy efficiency but raise concerns about data privacy and transparency. This paper presents a new framework for Secure and Auditable Private Data Sharing designed specifically for smart grids, with a focus on its functionality as a password manager. By utilizing smart contracts and blockchain technology, the framework creates explicit guidelines for data usage that guarantee clear oversight of data access and intended uses. In addition to managing smart grid data, the framework securely stores passwords and credentials, providing users with a comprehensive solution for data security and access management. The use of off-chain smart contract execution and trusted execution environments maximizes performance. To further assure transactional reliability during the result dissemination and payment procedures, the framework employs a two-phase atomic delivery mechanism. Energy service providers gain from optimum contracts because they encourage high-quality data exchange and customer participation through the use of contract theory. Extensive simulations validate the efficacy of the proposed approach, enabling users to securely access their data remotely through a cloud platform integrated with open-source services. © 2024 IEEE.

关键词： auditable data blockchain technology data privacy secure data sharing smart contracts smart grids

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Online Vehicle Routing with Pickups and Deliveries Under Time-Dependent Travel-Time Constraints 24

Online Vehicle Routing with Pickups and Deliveries Under Tim...

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24th Symposium on Algorithmic Approaches for Transportation Modelling, Optimization, and Systems, ATMOS 2024

作者： Kontogiannis, Spyros Paraskevopoulos, Andreas Zaroliagis, Christos Computer Engineering and Informatics Department University of Patras Greece Computer Technology Institute and Press "Diophantus" Patras Greece Computer Technology Institute and Press "Diophantus" Greece

ISBN: (纸本)9783959773508

The Vehicle Routing Problem with pickups, deliveries and spatiotemporal service constraints (VRPPDSTC) is a quite challenging algorithmic problem that can be dealt with in either an offline or an online fashion. In this work, we focus on a generalization, called VRPPDSTCtd, in which the travel-time metric is time-dependent: the traversal-time per road segment (represented as a directed arc) is determined by some function of the departure-time from its tail towards its head. Time-dependence makes things much more complicated, even for the simpler problem of computing earliest-arrival-time paths which is a crucial subroutine to be solved (numerous times) by VRPPDSTCtd schedulers. We propose two online schedulers of requests to workers, one which is a time-dependent variant of the classical Plain-Insertion heuristic, and an extension of it trying to digest some sort of forecasts for future demands for service. We enrich these two online schedulers with two additional heuristics, one targeting for distance-balanced assignments of work loads to the workers and another that makes local-search-improvements to the produced solutions. We conduct a careful experimental evaluation of the proposed algorithms on a real-world instance, with or without these heuristics, and compare their quality with human-curated assignments provided by professional experts (human operators at actual pickup-and-delivery control centers), and also with feasible solutions constructed from a relaxed MILP formulation of VRPPDSTCtd, which is also introduced in this paper. Our findings are quite encouraging, demonstrating that the proposed algorithms produce solutions which (i) are significant improvements over the human-curated assignments, and (ii) have overall quality pretty close to that of the (extremely time-consuming) solutions provided by an exact solver for the MILP formulation. © Spyros Kontogiannis, Andreas Paraskevopoulos, and Christos Zaroliagis.

关键词： Travel time

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Cyberbullying Detection System on Social Media Using Supervised Machine Learning

Cyberbullying Detection System on Social Media Using Supervi...

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2023 International Conference on ENTERprise Information Systems, CENTERIS 2023 - International Conference on Project MANagement, ProjMAN 2023 - International Conference on Health and Social Care Information Systems and Technologies, HCist 2023

作者： Perera, Andrea Fernando, Pumudu AndreaPera Department of Computer Science Informatics Institute of Technology Colombo 06 Sri Lanka Pumudu Fernando Department of Computer Science Informatics Institute of Technology Colombo 06 Sri Lanka

The use of digital and social media is growing every day as technology advances. People in the twenty-first century are growing up in a social media and internet-enabled society. Digital media offers a lot of opportunities, but people frequently tend to misuse them. On social networking sites, people spread anger toward a person. People are affected by cyberbullying in various ways. It has an impact on more than just health;numerous other factors put life in danger. Cyberbullying is a widespread modern phenomenon that people cannot completely avoid but can prevent. The author proposes a system for automatic cyberbullying detection and prevention using supervised machine learning. The system considers key characteristics of cyberbullying, such as the intention to harm, repeated behavior, and the use of abusive language. Support vector machines and logistic regression are employed to identify cyberbullying and related themes/categories such as race, physical, sexuality, and politics. This proposed method offers a novel theory for the detection of cyberbullying: texting has evolved over time due to changes in context usage, and language. In the dataset that includes tweets, Support Vector Machine (SVM), Naive Bayes, and Logistic Regression (LR) models were tested along with different Natural Language Processing methods. The accuracy of the system is improved by sentiment analysis, N-gram analysis, and other non-traditional feature extraction methods like Term Frequency-Inverse Document Frequency (TF-IDF) and profanity detection. © 2024 Elsevier B.V.. All rights reserved.

关键词： Self-supervised learning

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Developing a method to detect driver drowsiness based on a single EEG channel and discriminated features

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International Journal of Intelligent Systems Technologies and Applications 2024年第1期22卷 29-40页

作者： Hussein, Raed Mohammed George, Loay E. Miften, Firas Sabar Iraqi Commission for Computers and Informatics Informatics Institute of Postgraduate Studies Baghdad Iraq Computer Sciences Department University of Information Technology and Communication Baghdad Iraq Computer Sciences Department College of Education for Pure Science University of Thi-Qar Thi-Qar Iraq

Driver drowsiness is one of the leading causes of road deaths and transportation industry dangers. Due to its direct evaluation of neurophysiological brain activity, electroencephalography (EEG) has been regarded as one of the most reliable physiological indicators for identifying driver drowsiness. This study proposes a straightforward, cost-effective method for detecting driver drowsiness using a single channel. The contribution of this research is the discovery of drowsiness using discriminated features [moments features (M1, M2, M3, M4), roughness features (R1, R2, R3, R4), zero crossing rate (ZCR), sample entropy (SE) and median absolute deviation (MAD)] from publicly available datasets. A novel model was introduced in this study, which involved the fusion of wavelet transform Daubechies order 4 (WTDB4) and residue decomposition (RD) techniques for feature extraction. Various classification algorithms, including the least-square support vector machine (LSSVM) and ensemble models were compared in terms of their performance metrics. The algorithm that exhibited superior accuracy with reduced computational time was chosen to classify the driver's status into two groups: awake and drowsy. Notably, the proposed model achieved an impressive accuracy of 97.95%. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Electroencephalography

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Optimized Price Prediction of Cryptocurrencies using Deep Learning on High-Volume Time Series Data 15

Optimized Price Prediction of Cryptocurrencies using Deep Le...

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15th International Conference on Information, Intelligence, Systems and Applications, IISA 2024

作者： Vonitsanos, Gerasimos Kanavos, Andreas Grivokostopoulou, Foteini Sioutas, Spyros University of Patras Computer Engineering and Informatics Department Patras Greece Ionian University Department of Informatics Corfu Greece Computer Technology Institute and Press 'Diophantus' Patras Greece

ISBN: (纸本)9798350368833

Statistical models, enhanced by deep learning techniques, have become pivotal in various predictive tasks, including financial forecasting. This paper addresses the challenge of predicting cryptocurrency prices, utilizing a dataset comprising various cryptocurrencies treated as time series. We employ several deep neural network architectures-including Multilayer Perceptrons (MLP), Recurrent Neural Networks (RNN), Long Short-Term Memory networks (LSTM), and Bidirectional LSTM networks-to forecast future prices. Our methodology involves a detailed analysis of cryptocurrency time series to inform the design of these networks. The performance of each model is rigorously compared, highlighting their predictive capabilities in the context of cryptocurrency markets. This study not only contributes to the empirical literature by applying advanced neural networks to high-volume financial data but also provides a comparative analysis that may guide future applications of deep learning in economic forecasting. © 2024 IEEE.

关键词： Costs

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Use of gamification and game-based learning in educating Generation Alpha: A systematic literature review

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Educational technology and Society 2024年第2期27卷 114-132页

作者： Fernando, Pumudu A. Premadasa, H. K. Salinda Department of Computing Informatics Institute of Technology Sri Lanka Centre for Computer Studies Sabaragamuwa University Sri Lanka

Children born after 2010 are labelled as members of Generation Alpha, who currently pursue their primary education. Gamification and game-based learning methodologies have gained popularity in the global education sector in the recent past. The goal of this study is to investigate the present state of adopting gamification and game-based learning for primary education student cohorts, with the aid of recent peer-reviewed research publications. By employing a systematic mapping design, reviewed paper results are categorized and further evaluated in relation to the attributes such as type of gamification, game mechanics and elements used, evaluation context, type of experimental outcome, gamified academic subject area, and type of application. With the aid of review results, this study proposes a mapping of gamification learning mechanics, suited to address Generation Alpha traits. It also recommends future research directions, which include investigating the realistic learning preferences of Generation Alpha, the need for designing novel educational game elements and adaptive gamification learning strategies, and the importance of long-term studies with diverse learner samples. The findings of this study will support prospective stakeholders, such as researchers, educators, parents, and educational policymakers, to utilize gamification approaches effectively in educating Generation Alpha. © (2023), (International Forum of Educational technology and Society). All Rights Reserved.

关键词： Adaptive learning Game-based learning Gamification Generation Alpha Primary education

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