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Correction: Towards automated remote sizing and hot steel manufacturing with image registration and fusion

Journal of Intelligent Manufacturing 2023年第1期36卷 439-439页

作者： Lin, Yueda Wang, Peng Wang, Zichen Ali, Sardar Mihaylova, Lyudmila Automatic Control and Systems Engineering The University of Sheffield Sheffield UK Department of Computing and Mathematics Manchester Metropolitan University Manchester UK

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vailá: VERSATILE ANARCHO INTEGRATED LIBERATION ÁNALYSIS IN MULTIMODAL TOOLBOX

arXiv

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arXiv 2024年

作者： Santiago, Paulo Roberto Pereira Chinaglia, Abel Gonçalves Flanagan, Kira Bedo, Bruno L.S. Mochida, Ligia Yumi Aceros, Juan Bononi, Aline Cesar, Guilherme Manna Biomechanics and Motor Control Laboratory School of Physical Education and Sport USP Brazil Graduate Program in Rehabilitation and Functional Performance Medical School USP Brazil Technology and Sports Performance Analysis Laboratory School of Physical Education USP Brazil Laboratory of Applied Biomechanics and Engineering Brooks College of Health UNF United States Department of Physical Therapy Brooks College of Health UNF United States College of Computing Engineering and Construction UNF United States Municipal Pharmacy Ribeirão Preto Brazil

Human movement analysis is crucial in health and sports biomechanics for understanding physical performance, guiding rehabilitation, and preventing injuries. However, existing tools are often proprietary, expensive, and function as "black boxes", limiting user control and customization. This paper introduces vailá—Versatile Anarcho Integrated Liberation Ánalysis in Multimodal Toolbox—an open-source, Python-based platform designed to enhance human movement analysis by integrating data from multiple biomechanical systems. vailá supports data from diverse sources, including retroreflective motion capture systems, inertial measurement units (IMUs), markerless video capture technology, electromyography (EMG), force plates, and GPS/GNSS systems, enabling comprehensive analysis of movement patterns. Developed entirely in Python 3.11.9, which offers improved efficiency and long-term support, and featuring a straightforward installation process, vailá is accessible to users without extensive programming experience. In this paper, we also present several workflow examples that demonstrate how vailá allows the rapid processing of large batches of data, independent of the type of collection method. This flexibility is especially valuable in research scenarios where unexpected data collection challenges arise, ensuring no valuable data point is lost. We demonstrate the application of vailá in analyzing sit-to-stand movements in pediatric disability, showcasing its capability to provide deeper insights even with unexpected movement patterns. By fostering a collaborative and open environment, vailá encourages users to innovate, customize, and freely explore their analysis needs, potentially contributing to the advancement of rehabilitation strategies and performance optimization. For more details in GitHub repository: https://***/vaila-multimodaltoolbox/vaila and the online documentation: https://*** Codes 92C10, 68U10, 65D18, 65K10 © 2024, CC BY-SA.

关键词： Electromyography

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Lightweight Trust Model with Machine Learning scheme for secure privacy in VANET

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Procedia Computer Science 2021年 194卷 45-59页

作者： Muhammad Haleem Junejo Ab Al-Hadi Ab Rahman Riaz Ahmed Shaikh Kamaludin Mohamad Yusof Dileep Kumar Imran Memon Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Department of Computer Science Faculty of Computing and Information Technology King Abdulaziz University Jeddah Saudi Arabia State Key Laboratory of Industrial Control Technology College of Control Science & Engineering Zhejiang University Hangzhou china Department of computer science bahria university Karachi campus sindh Pakistan

A vehicular ad hoc network (VANETs) is transforming public transport into a safer wireless network, increasing its safety and efficiency. The VANET consists of several nodes which include RSU (Roadside Units), vehicles, traffic signals, and other wireless communication devices that are communicating sensitive information in a network. Nevertheless, security threats are increasing day by day because of dependency on network infrastructure, dynamic nature, and control technologies used in VANET. The security threats could be addressed widely by using machine learning and artificial intelligence on the road transport nodes. In this paper, a comparison of trust and cryptography was presented based on applications and security requirements of VANET.

关键词： VANET Trust Model Machine Learning

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Kartalol: A New Deep Neural Network Framework Based on Transfer Learning for Iris Segmentation and Localization Task: New Dataset for Iris Segmentation

SSRN

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SSRN 2022年

作者： Khiarak, Jalil Nourmohammadi Oskouei, Amin Golzari Nasab, Samaneh Salehi Jaryani, Farhang Moafinejad, Seyed Naeim Pourmohamad, Rana Amini, Yasin Noshad, Morteza Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland Department of Computer Engineering Faculty of Electrical and Computer Engineering University of Tabriz Iran School of Engineering Lorestan University Aleshtar Campus Aleshtar Iran Malek-Ashtar University of Technology Department of Physics Shahid Beheshti University Tehran Iran School of Computing Informatics and Decision Systems Engineering Arizona State University AZ United States Faculty of Electrical and Computer Engineering University of Kharazmi Iran Stanford University United States

Iris segmentation and localization in unconstrained environments is challenging due to long distances, illumination variations, limited user cooperation, and moving subjects. Some existing methods in the literature, each of which has somehow mitigated some of the mentioned issues. In this paper, motivated by these weaknesses, we propose a framework that employs a deep neural network-based approach to iris segmentation and localization. The proposed framework is based on a U-Net architecture that has been initialized with a pre-trained MobileNetV2 model. In addition, we have collected 1000 images to study the detectors in iris recognition scenarios better. The provided dataset (KartalOl) is available free for the research community. In the proposed framework, to better generalizability, we fine-tune the MobileNetV2 model on the provided data for NIR-ISL 2021 from the CASIA-Iris-Asia, CASIA-Iris-M1, and CASIA-Iris-Africa and our dataset. Also, data augmentation technics are applied on images. We chose the binarization threshold for the binary masks by iterating over the images in the provided dataset. The proposed framework is trained and tested in CASIA-Iris-Asia, CASIA-Iris-M1, CASIA-Iris-Africa, along the KartalOl dataset. The experimental results highlight that our method surpasses state-of-the-art methods on mobile-based benchmarks. The codes and evaluation results are publicly available at https://***/Jalilnkh/KartalOl-NIR-ISL2021031301. © 2022, The Authors. All rights reserved.

关键词： Deep neural networks

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Decentralized Nonconvex Robust Optimization over Unsafe Multiagent Systems: System Modeling, Utility, Resilience, and Privacy Analysis

arXiv

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arXiv 2024年

作者： Hu, Jinhui Chen, Guo Li, Huaqing Cheng, Huqiang Guo, Xiaoyu Huang, Tingwen School of Automation Central South University Changsha410083 China Department of Biomedical Engineering City University of Hong Kong Kowloon Hong Kong School of Electrical Engineering and Telecommunications University of New South Wales SydneyNSW2052 Australia Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Southwest University Chongqing400715 China Key Laboratory of Dependable Services Computing in Cyber Physical Society Ministry of Education College of Computer Science Chongqing University Chongqing400044 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen518055 China

Privacy leakage and Byzantine failures are two adverse factors to the intelligent decision-making process of multiagent systems (MASs). Considering an unsafe MAS with these two issues, this paper targets the resolution of a class of nonconvex optimization problems under the Polyak-Lojasiewicz (P-L) condition. To address this problem, we first identify and construct the unsafe MAS model. Under this kind of unfavorable MASs, we mask the local gradients with Gaussian noises and adopt a resilient aggregation method self-centered clipping (SCC) to design a differentially private (DP) decentralized Byzantine-resilient algorithm, namely DP-SCC-PL, which simultaneously achieves differential privacy and Byzantine resilience. The convergence analysis of DP-SCC-PL is challenging since the convergence error can be contributed jointly by privacy-preserving and Byzantine-resilient mechanisms, as well as the nonconvex relaxation, which is addressed via seeking the contraction relationships among the disagreement measure of reliable agents before and after SCC aggregation, together with the optimal gap. Theoretical results reveal that DP-SCC-PL achieves consensus among all reliable agents and sublinear (inexact) convergence with well-designed step-sizes. It has also been proved that if there are no privacy issues and Byzantine agents, then the asymptotic exact convergence can be recovered. Numerical experiments verify the utility, resilience, and differential privacy of DP-SCC-PL by tackling a nonconvex optimization problem satisfying the P-L condition under various Byzantine attacks. Copyright © 2024, The Authors. All rights reserved.

关键词： Differential privacy

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Multi-Robot System for Autonomous Cooperative Counter-UAS Missions: Design, Integration, and Field Testing

Multi-Robot System for Autonomous Cooperative Counter-UAS Mi...

引用

IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Antonella Barisic Marlan Ball Noah Jackson Riley McCarthy Nasib Naimi Luca Strässle Jonathan Becker Maurice Brunner Julius Fricke Lovro Markovic Isaac Seslar David Novick Jonathan Salton Roland Siegwart Stjepan Bogdan Rafael Fierro Laboratory for Robotics and Intelligent Control Systems (LAR-ICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA ETH Zurich Autonomous Systems Lab (ASL) Zurich Switzerland Sandia National Laboratories Albuquerque New Mexico USA

ISBN: (纸本)9781665456814

With the rapid development of technology and the proliferation of uncrewed aerial systems (UAS), there is an immediate need for security solutions. Toward this end, we propose the use of a multi-robot system for autonomous and cooperative counter-UAS missions. In this paper, we present the design of the hardware and software components of different complementary robotic platforms: a mobile uncrewed ground vehicle (UGV) equipped with a LiDAR sensor, an uncrewed aerial vehicle (UAV) with a gimbal-mounted stereo camera for air-to-air inspections, and a UAV with a capture mechanism equipped with radars and camera. Our proposed system features 1) scalability to larger areas due to the distributed approach and online processing, 2) long-term cooperative missions, and 3) complementary multimodal perception for the detection of multirotor UAVs. In field experiments, we demonstrate the integration of all subsystems in accomplishing a counter-UAS task within an unstructured environment. The obtained results confirm the promising direction of using multi-robot and multi-modal systems for C-UAS.

关键词： Scalability Robot vision systems Autonomous aerial vehicles Cameras Software Safety Security

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Performance Analysis of OMA/NOMA-aided Satellite Communication Networks: A Stochastic Geometry Approach

引用

IEEE Transactions on Communications 2024年

作者： Li, Kecheng Wang, Jun Hou, Tianwei Li, Anna Yue, Xinwei Liu, Yuanwei Chen, Wei School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom KU Leuven Leuven3001 Belgium School of Computing and Communications Lancaster University LancasterLA1 4WA United Kingdom Key Laboratory of Information and Communication Systems Ministry of Information Industry China Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong

The increasing quality of service requirements and demand for satellite services necessitate higher data rates, spectral efficiency, and stability in satellite communication networks. Therefore, this paper investigates the non-orthogonal multiple access (NOMA) assisted satellite communication networks, where multiple users are uniformly distributed over a spherical hat according to the homogeneous Poisson point process (HPPP). Based on the characteristics of HPPP, we analyze the distance distributions of users. To evaluate the performance of the proposed networks, we first derive the closed-form expressions and approximated expressions of the outage probability (OP) for paired NOMA users. To obtain more insights into the proposed networks, the ergodic rate and diversity orders for paired NOMA users are also derived. Spectral efficiency is derived for NOMA and orthogonal multiple access (OMA) assisted satellite communication networks. Our analytical results demonstrate that the diversity order of the proposed networks is all one. Numerical results confirm that: 1) compared to OMA, the proposed NOMA-assisted satellite network demonstrates superior outage performance and spectral efficiency, especially in the higher power regimes;2) fading factors have negligible effects on OP and spectral efficiency;and 3) under certain target rates for both near and far users, the outage performance of far users in NOMA-assisted satellite communication networks is superior to that of near users. © 2024 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Satellite communication systems

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Performance Analysis of Multi-RIS-Aided LoRa Systems With Outdated and Imperfect CSI

引用

IEEE Transactions on Communications 2024年

作者： Liang, Zhaokun Cai, Guofa He, Jiguang Kaddoum, Georges Huang, Chongwen Guangdong University of Technology School of Information Engineering China Ministry of Education Key Laboratory of Industrial Internet of Things and Networked Control Chongqing University of Posts and Telecommunications Chongqing400065 China Great Bay University School of Computing and Information Technology China University of Oulu Centre for Wireless Communications Oulu90014 Finland University of Quebec Electrical Engineering Department École de Technologie Supérieure MontrealQCH2L 2C4 Canada Lebanese American University Artificial Intelligence and Cyber Systems Research Center United States Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China

Although LoRa has emerged as the leading technology among the rapidly developing low-power wide-area networks, the performance of the LoRa system severely deteriorates over fading channels. To address this problem, in this paper, we introduce multiple reconfigurable intelligent surfaces (multi-RISs) into the LoRa system to improve its performance. Our specific focus is on the impact of outdated channel state information (CSI), the imperfection of estimated CSI, and the design of RIS discrete phase shifts on the performance. To this end, we first use the moment-matching method to obtain the end-to-end (E2E) channel coefficient of the joint outdated channels and erroneous channels over Nakagami-m fading. Moreover, the closed-form bit error rates (BERs) of the proposed system with non-coherent and coherent detections are derived. The results reveal that, in the high signal-to-noise ratio (SNR) regime, coherent detection encounters the error floor and performs worse than non-coherent detection. Furthermore, we also analyze delay outage rate, throughput, and achievable diversity order of the proposed system. The results show that, despite the presence of outdated CSI and channel estimation errors, the proposed system is still superior to RIS-aided LoRa systems adopting blind transmission and RIS-free ones. Finally, we also thoroughly investigate the effects of various important factors such as the correlation factor, channel estimation errors, the number of RIS reflecting elements, and the number of quantization bits for RIS discrete phase shifts on the performance. © 1972-2012 IEEE.

关键词： Fading channels

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Performance Analysis of Cooperative Wireless-Powered NOMA System With Energy Buffer

IEEE Transactions on Green Communications and Networking

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IEEE Transactions on Green Communications and Networking 2024年

作者： Xie, Kengyuan Cai, Guofa Ning, Ting He, Jiguang Kaddoum, Georges Guangdong University of Technology School of Information Engineering Guangzhou510006 China Chongqing University of Posts and Telecommunications Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing400065 China Great Bay University School of Computing and Information Technology China University of Oulu Centre for Wireless Communications Oulu90014 Finland University of Quebec Electrical Engineering Department École de Technologie Supérieure MontrealQCH2L 2C4 Canada Lebanese American University Artificial Intelligence and Cyber Systems Research Center Lebanon

This paper proposes an energy buffer aided cooperative wireless-powered non-orthogonal multiple access (NOMA) system, which includes a base station (BS), a near user (NU), and a far user (FU). To consider a more general case and improve the system performance as much as possible, both the NU and FU are equipped with energy buffers. Two different energy management policies are considered at the NU and FU, namely the best-effort policy (BEP) and on-off policy (OOP). In the proposed system, the NU and FU first collect and store radio frequency based energy from the BS. Then, the FU uses the stored energy to transmit its signal to both the BS and NU. The NU decodes the received signal from the FU and uses the stored energy to transmit the superimposed signal that consists of its own signal and the decoded FU signal to the BS. The outage probability and throughput expressions of the proposed system with BEP and OOP are derived over Rayleigh fading channels. Results reveal that the proposed system can significantly improve the performance of FU compared to the energy buffer aided non-cooperative wireless-powered NOMA system, and can outperform the buffer-less cooperative wireless-powered NOMA system. © 2017 IEEE.

关键词： Fading channels

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A Survey of Robot Manipulation in Contact

arXiv

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arXiv 2021年

作者： Suomalainen, Markku Karayiannidis, Yiannis Kyrki, Ville Center of Ubiquitous Computing Faculty of Information Technology and Electrical Engineering University of Oulu Finland Systems and Control Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Intelligent Robotics research group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Helsinki Finland

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of 1) performing tasks that always require contact and 2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks. © 2021, CC BY.

关键词： Surveys

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