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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Tianyu Liu Fu Zhang Fei Gao Jia Pan Department of Mechanical Engineering The University of Hong Kong Institute of Cyber-Systems and Control Zhejiang University Department of Computer Science The University of Hong Kong

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate robot localization and modeling errors further exacerbate these challenges. Recent research on UAV motion planning in static environments has been unable to cope with the rapidly changing surroundings, resulting in trajectories that may not be feasible. Moreover, previous approaches that have addressed dynamic obstacles or external disturbances in isolation are insufficient to handle the complexities of such environments. This paper proposes a reliable motion planning framework for UAVs, integrating various uncertainties into a chance constraint that characterizes the uncertainty in a probabilistic manner. The chance constraint provides a probabilistic safety certificate by calculating the collision probability between the robot's Gaussian-distributed forward reachable set and states of obstacles. To reduce the conservatism of the planned trajectory, we propose a tight upper bound of the collision probability and evaluate it both exactly and approximately. The approximated solution is used to generate motion primitives as a reference trajectory, while the exact solution is leveraged to iteratively optimize the trajectory for better results. Our method is thoroughly tested in simulation and real-world experiments, verifying its reliability and effectiveness in uncertain environments.

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Open and Closed Source Models for LLM-Generated Metaheuristics Solving engineering Optimization Problem 28th

Open and Closed Source Models for LLM-Generated Metaheuris...

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28th European Conference on Applications of Evolutionary Computation, EvoApplications 2025, held as part of EvoStar 2025

作者： Senkerik, Roman Viktorin, Adam Kadavy, Tomas Kovac, Jozef Janku, Peter Pekar, Libor Guzowski, Hubert Smolka, Maciej Byrski, Aleksander Pluhacek, Michal A.I.Lab Faculty of Applied Informatics Tomas Bata University Zlin Czech Republic Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University Zlin Czech Republic Faculty of Computer Science AGH University of Krakow Krakow Poland Center of Excellence in Artificial Intelligence AGH University of Krakow Krakow Poland

ISBN: (纸本)9783031900648

This paper explores the applicability of generative AI (genAI), specifically Large Language Models (LLMs), for the automatic generation and configuration of metaheuristic algorithms to address a real-world engineering problem: the optimal parameter estimation of time-delay systems in interconnected heating-cooling loops. The study introduces a pioneering workflow and iterative architecture with feedback within the emerging field of genAI-driven optimization for real optimization problems, eliminating the need for manually crafted or modified algorithms. This automated system empowers domain experts in engineering to solve complex optimization problems with minimal knowledge of optimization algorithms, lowering the barrier to entry for sophisticated algorithm use. We demonstrate how LLMs can generate effective optimizers under conditions like connstrained optimization problems where the solution lies near the boundaries of the search space. Four state-of-the-art LLMs (closed and open-sourced) have been selected for experiments. These are GPT-4o, GPT-4o mini, Claude Sonnet 3.5 and Llama 3.1. All studied LLMs generated metaheuristics that outperformed the initialization baseline optimization method (Random Search and CMA-ES). Notably, the Claude Sonnet 3.5 model generated a metaheuristic with the best mean results, almost matching the performance of the tuned state-of-the-art DISH algorithm, as an example of adaptive Differential Evolution. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Time of arrival

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Universal Recurrent Traffic Flow Model for Urban Traffic Simulation

Universal Recurrent Traffic Flow Model for Urban Traffic Sim...

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2021 International Conference of Technology, science and Administration, ICTSA 2021

作者： Sofronova, Elena Alnowaini, Ghazi Russian Academy of Sciences Department of Robotics Control Federal Research Center Computer Science and Control of Moscow Russia Taiz University Department of Mechatronic Engineering Taiz Yemen

ISBN: (纸本)9781665428620

This paper presents a universal recurrent traffic flow model designed to simulate traffic flows and solve the problem of finding the optimal durations of traffic light phases. The model belongs to the class of microscopic and is based on the theory of controlled networks. The road network is presented as a configurable graph. The nodes of the graph are the road sections, and the edges are the maneuvers between the sections. The graph configuration is changed by turning the graph edges on or off, which corresponds to the permission or prohibition of certain maneuvers. Traffic flows are controlled by traffic lights at regulated intersections. To apply this model it is assumed that the information about the parameters of flows and the road network is available. The description of the model, its properties, and a methodological example of calculation are given. © 2021 IEEE.

关键词： Roads and streets

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A Speech Cryptosystem Using the New Chaotic System with a Capsule-Shaped Equilibrium Curve

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computers, Materials & Continua 2023年第6期75卷 5987-6006页

作者： Mohamad Afendee Mohamed Talal Bonny Aceng Sambas Sundarapandian Vaidyanathan Wafaa Al Nassan Sen Zhang Khaled Obaideen Mustafa Mamat Mohd Kamal Mohd Nawawi Faculty of Informatics and Computing Universiti Sultan Zainal AbidinMalaysia Department of Computer Engineering University of SharjahSharjah26666UAE Department of Mechanical Engineering Universitas Muhammadiyah TasikmalayaIndonesia Research and Development Centre Vel Tech UniversityAvadiChennaiIndia School of Artificial Intelligence and Automationand Key Laboratory of Image Processingand Intelligent Control of Education Ministry of ChinaHuazhong University of Scienceand TechnologyWuhan430074China Institute of Strategic Industrial Decision Modeling School of Quantitative SciencesUniversiti Utara Malaysia06010UUM SintokKedahMalaysia

In recent years,there are numerous studies on chaotic systems with special equilibrium curves having various shapes such as circle,butterfly,heart and *** paper describes a new 3-D chaotic dynamical system with a capsule-shaped equilibrium *** proposed chaotic system has two quadratic,two cubic and two quartic nonlinear *** is noted that the proposed chaotic system has a hidden attractor since it has an infinite number of equilibrium *** is also established that the proposed chaotic system exhibits multi-stability with two coexisting chaotic attractors for the same parameter values but differential initial states.A detailed bifurcation analysis with respect to variations in the system parameters is portrayed for the new chaotic system with capsule equilibrium *** have shown MATLAB plots to illustrate the capsule equilibrium curve,phase orbits of the new chaotic system,bifurcation diagrams and *** an engineering application,we have proposed a speech cryptosystem with a numerical algorithm,which is based on our novel 3-D chaotic system with a capsule-shaped equilibrium *** proposed speech cryptosystem follows its security evolution and implementation on Field Programmable Gate Array(FPGA)*** results show that the proposed encryption system utilizes 33%of the FPGA,while the maximum clock frequency is 178.28 MHz.

关键词： Chaos chaotic systems hidden attractors multi-stability bifurcation speech cryptosystem FPGA design

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A Consumer Electronics-Enhanced UAV System for Agricultural Farm Tracking With Fuzzy SMO and Actuator Fault Detection control Algorithms

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IEEE Transactions on Consumer Electronics 2025年

作者： Bilal, Hazrat Aslam, Muhammad Shamrooz Tian, Yibin Ullah, Inam Ayouni, Sarra Vasilakos, Athanasios V. College of Mechatronics and Control Engineering College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China China University of Mining and Technology Artificial Intelligence Research Institute Xuzhou2211106 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Gachon University Department of Computer Engineering Seongnam13120 Korea Republic of Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan Princess Nourah bint Abdulrahman University Department of Information Systems College of Computer and Information Sciences Saudi Arabia Grimstad Norway

The adoption of agricultural robots, or agrobots, has revolutionized modern farming operations, ranging from crop monitoring to automated harvesting, significantly boosting productivity. Motivated by the rapid advancements in agrobots and their integration into smart agricultural practices, this study proposes an autonomous trajectory tracking system for wheat farms using quadcopter UAVs. To address actuator fault detection, including stuck faults and partial loss of efficiency, a TSF-H∞-SMO (Takagi-Sugeno Fuzzy-based H∞ Sliding Mode Observer) fault detection framework is introduced. The approach initiates with the derivation of a TSF (Takagi-Sugeno Fuzzy) attitude control model that integrates an uncertainty term, constructed from the original nonlinear dynamics of the UAV and approximated through local linear models at four equilibrium positions. An actuator fault model is subsequently integrated to develop a comprehensive TSF-UAV model, accounting for actuator faults. The TSF-H∞-SMO is then designed using matrix coordinate transformation to enable precise fault detection. The fault detection capabilities of the TSF-H∞-SMO are evaluated through simulations on the TSF-UAV model under SISO (single-input single-output) actuator fault scenarios. The experimental results validate the proposed system, demonstrating its ability to detect a range of actuator faults accurately and promptly. The analysis reveals a proportional relationship between the amplitude of the state change and the severity of the fault, attributed to the interaction between system states and actuator flaps. This approach underscores the potential for deploying autonomous UAV-based fault detection and trajectory tracking systems in agricultural applications. Furthermore, integrating such advanced fault-tolerant control algorithms holds promise for consumer technology applications, where precision, reliability, and robustness are critical to enhancing system performance and operational efficiency. © 1

关键词： Agricultural robots

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Analytical framework for the development of water quality virtual sensors in integrated aquaculture systems based on various aquaponics techniques 28

Analytical framework for the development of water quality vi...

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28th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2023

作者： Petrea, Stefan-Mihai Simionov, Ira Adeline Antache, Alina Cristea, Dragos Sebastian Nica, Aurelia Cristea, Victor Dunarea de Jos University of Galati REXDAN Research Infrastructure Food Science Food Engineering Biotechnology and Aquaculture Department Galaţi Romania Dunarea de Jos University of Galati REXDAN Research Infrastructure Department of Automatic Control and Electrical Engineering Galaţi Romania Alexandru Ioan Cuza University Iasi Romania Dunarea de Jos University of Galati Economics Department Galaţi Romania Dunarea de Jos University of Galati Food Science Food Engineering Biotechnology and Aquaculture Department Galaţi Romania Dunarea de Jos University of Galati Applied Sciences Department Galaţi Romania

ISBN: (纸本)9798350339918

The present research targets to offer preliminary perspectives related to the use of machine learning tools for creating a complex analytical framework which targets to provide decision support for integrated aquaculture systems (IMS) based on aquaponics techniques with different peculiarities. Therefore, virtual sensors for the determination of ammonium chloride (NH4Cl) and nitrate (NO3), considered the most important chemical compounds during the biological filter activation and aquaponics production cycle, respectively, were developed by using various water quality predictors, in various technical and technological scenarios. Different machine learning-based techniques such as multiple-linear regressions (MLR), XGBoost and Random Forrest (RF) algorithms were used for establishing a high-accuracy prediction framework. The results emphasize that both MLR and XGBoost-based models recorded high prediction accuracy, compared to RF algorithms. The most important predictors differ between the experimental variants, emphasizing the necessity of establishing a multitude of complex prediction frameworks, considering all the technical aspects of IMS. © 2023 IEEE.

关键词： Multiple linear regression

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SSIE-Diffusion: Personalized Generative Model for Subject-Specific Image Editing

SSIE-Diffusion: Personalized Generative Model for Subject-Sp...

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International Joint Conference on Neural Networks (IJCNN)

作者： Lin Guo Meiling Liu Kaiqun Fu Jiyun Zhou College of Computer and Control Engineering Northeast Forestry University Harbin China Department of Electrical Engineering and Computer Science South Dakota State University South Dakota USA d Lieber Institute Johns Hopkins University Baltimore USA

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

Large-scale Text-to-Image (T2I) models can generate high-quality images by controlling the synthesis based on textual prompts. However, concepts related to specific subjects are often challenging to accurately describe through text, leading to the model's inability to generate diverse images containing these specific concepts. Current methods exhibit shortcomings, including stringent requirements for input images, poor model generalization, uncontrollable image generation quality, lack of editing flexibility and unbalanced semantic consistency. In this paper, we propose a personalized generation method for targeted subject image editing, referred to as SSIE-Diffusion. We address these challenges by training an image encoder to invert original images into text embeddings, ensuring the controllability and accuracy of concept generation. To mitigate overfitting issues during training, we devise a mask loss. Additionally, building upon the T2I model, we propose fine-tuning the U-Net architecture in the model using a regularized dataset. This involves improving the projection matrices mapping to key and value features in the cross-attention layers, enhancing the visual fidelity of personalized images of the subject, and simultaneously addressing language drift issues to balance semantic consistency. Experimental results demonstrate the effectiveness of our proposed method in editing specific subjects within individual images, surpassing current SOTA methods. Across various scenarios, the generated images exhibit superior visual fidelity and editing flexibility, while maintaining high computational efficiency.

关键词： Training Visualization Image synthesis Computational modeling Semantics Neural networks Text to image

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computer vision for road imaging and pothole detection:a state-of-the-art review of systems and algorithms

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Transportation Safety and Environment 2022年第4期4卷 3-18页

作者： Nachuan Ma Jiahe Fan Wenshuo Wang JinWu Yu Jiang Lihua Xie Rui Fan Department of Control Science and Engineering Frontiers Science Center for Intelligent Autonomous Systemsand State Key Laboratory of Intelligent Autonomous SystemsTongji UniversityShanghai 201804P.R.China Department of Civil Engineering McGill UniversityMontréalQC H3A 0C3Canada Department of Electronics and Computer Engineering the Hong Kong University of Science and TechnologyHong Kong SAR 999077P.R.China CTO Office ClearMotion Inc.BillericaMA 01821USA School of Electrical and Electronic Engineering Nanyang Technological University50 Nanyang Avenue639798Singapore

computer vision algorithms have been utilized for 3-D road imaging and pothole detection for over two ***,there is a lack of systematic survey articles on state-of-the-art(SoTA)computer vision techniques,especially deep learningmodels,developed to tackle these *** article first introduces the sensing systems employed for 2-D and 3-D road data acquisition,including camera(s),laser scanners and Microsoft *** then comprehensively reviews the SoTA computer vision algorithms,including(1)classical 2-D image processing,(2)3-D point cloud modelling and segmentation and(3)machine/deep learning,developed for road pothole *** article also discusses the existing challenges and future development trends of computer vision-based road pothole detection approaches:classical 2-D image processing-based and 3-D point cloud modelling and segmentation-based approaches have already become history;and convolutional neural networks(CNNs)have demonstrated compelling road pothole detection results and are promising to break the bottleneck with future advances in self/un-supervised learning for multi-modal semantic *** believe that this survey can serve as practical guidance for developing the next-generation road condition assessment systems.

关键词： computer vision road imaging pothole detection deep learning image processing point cloud modelling convolutional neural networks

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Improving fNIRS Signal Quality Using Smoothing Filtering

Improving fNIRS Signal Quality Using Smoothing Filtering

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Progress in Applied Electrical engineering (PAEE)

作者： Aleksandra Kawala-Sterniuk Dariusz Mikołajewski Luis A. Leiva Tuukka Ruotsalo Adam Lysiak Barbara Grochowicz Edward Jacek Gorzeńariczyk Adrian Luckiewicz Anna Wieczorek Mariusz Pelc Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Institute of Computer Science Kazimierz Wielki University Bydgoszcz Poland Department of Computer Science University of Luxembourg Luxembourg Luxembourg University of Helsinki Denmark University of Copenhagen Finland Institute of Philosophy Kazimiez Wielki University Bydgoszcz Poland

Biomedical signals are extremely difficult to analyze, mainly due to the non-stationary nature of these signals. Filtering does not always bring the desired results, because often the desired information is filtered out. In the case of EEG signals, smoothing filters gave very good results. In this paper, various types of smoothing filters for the analysis of infrared spectroscopy signals were compared.

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IOT based wearable sensor system architecture for classifying human activity

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Measurement: Sensors 2025年 39卷

作者： Mahalakshmi, V. Kumar, Pramod Bhende, Manisha Keshta, Ismail Rathod, Swatiben Yashvantbhai Ramesh, Janjhyam Venkata Naga Department of Computer Science College of Engineering and computer science Jazan University Jazan45142 Saudi Arabia Computer science and Technology Ganga Institute of Technology and Management Kablana Haryana Jhajjar124104 India Dr. D. Y. Patil Vidyapeeth Pune India Dr. D. Y. Patil School of Science & Technology Tathawade Pune India Computer Science and Information Systems Department College of Applied Sciences AlMaarefa University Riyadh Saudi Arabia Instrumentation And Control Department Vishwakrma Government Engineer College Chandkheda Ahmedabad382424 India Department of Computer Science and Engineering Koneru Lakshmaiah Education Foundation Vaddeswaram Guntur Dist. Andhra Pradesh 522302 India

Human Activity Recognition (HAR) has applications in diverse fields, including sports management and behavior classification. Existing HAR methods can be categorized into three main approaches: camera-based, wearable sensor-based, and Wi-Fi sensing-based. Camera-based methods suffer from privacy concerns, while wearable sensor-based methods face limitations in battery longevity and continuous monitoring. Wi-Fi sensing methods mitigate privacy and battery issues but rely on costly Intel 5300 network cards or software-defined radio (SDR) platforms, limiting scalability. This paper presents a cost-effective IoT-based human activity recognition system using ESP32, leveraging its Wi-Fi sensing capabilities. The proposed system follows a structured workflow: (i) channel state information (CSI) is extracted from ESP32 modules, (ii) data preprocessing is performed using Hampel and Gaussian filters for noise and outlier removal, (iii) dimensionality reduction is achieved through Principal Component Analysis (PCA) and Discrete Wavelet Transform (DWT), and (iv) activity classification is conducted using Dynamic Time Warping (DTW) and the K-Nearest Neighbors (KNN) algorithm. Experimental evaluations demonstrate that the proposed system achieves an average recognition accuracy of 98.6 % across six human activities, comparable to high-end Intel 5300-based HAR systems, while significantly reducing hardware costs and improving ease of deployment. © 2025

关键词： Discrete wavelet transforms

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