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Multi-agent Path Planning Based on Conflict-Based Search (CBS) Variations for Heterogeneous Robots

Journal of Intelligent and Robotic Systems: Theory and Applications 2025年第1期111卷 1-12页

作者： Bai, Yifan Kotpalliwar, Shruti Kanellakis, Christoforos Nikolakopoulos, George Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå797187 Sweden

This article introduces a novel Multi-agent path planning scheme based on Conflict Based Search (CBS) for heterogeneous holonomic and non-holonomic agents, designated as Heterogeneous CBS (HCBS). The proposed methodology employs a hybrid A∗ algorithm for non-holonomic car-like robots and a conventional A∗ algorithm for holonomic robots. Following this, a body conflict detection strategy is utilized to construct the conflict tree, bridging the initial path planning with the resolution of conflicts among agents. Moreover, we present two variants of HCBS: the Enhanced Conflict-Based Search (EHCBS) and the Depth-First Conflict-Based Search (DFHCBS). We evaluate the efficacy of our proposed algorithms—HCBS, EHCBS, and DFHCBS—against a standard prioritized planning algorithm, focusing on success rates and computational efficiency in environments with varying numbers of agents and obstacles. The empirical results demonstrate that EHCBS exhibits superior computational efficiency in small, dense environments, while DFHCBS performs well in larger-scale environments. This highlights the adaptability of our proposed approaches in various settings, proving the computational advantage of EHCBS and DFHCBS over traditional methods. © The Author(s) 2025.

关键词： Multi agent systems

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YOLOCSP-PEST for Crops Pest Localization and Classification

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computers, Materials & Continua 2025年第2期82卷 2373-2388页

作者： Farooq Ali Huma Qayyum Kashif Saleem Iftikhar Ahmad Muhammad Javed Iqbal Department of Software Engineering University of Engineering and TechnologyTaxila47050Pakistan Department of Computer Science&Engineering College of Applied Studies&Community ServiceKing Saud UniversityRiyadh11362Saudi Arabia Department of Information Technology Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21589Saudi Arabia Department of Computer Science University of Engineering and TechnologyTaxila47050Pakistan

Preservation of the crops depends on early and accurate detection of pests on crops as they cause several diseases decreasing crop production and quality. Several deep-learning techniques have been applied to overcome the issue of pest detection on crops. We have developed the YOLOCSP-PEST model for Pest localization and classification. With the Cross Stage Partial Network (CSPNET) backbone, the proposed model is a modified version of You Only Look Once Version 7 (YOLOv7) that is intended primarily for pest localization and classification. Our proposed model gives exceptionally good results under conditions that are very challenging for any other comparable models especially conditions where we have issues with the luminance and the orientation of the images. It helps farmers working out on their crops in distant areas to determine any infestation quickly and accurately on their crops which helps in the quality and quantity of the production yield. The model has been trained and tested on 2 datasets namely the IP102 data set and a local crop data set on both of which it has shown exceptional results. It gave us a mean average precision (mAP) of 88.40% along with a precision of 85.55% and a recall of 84.25% on the IP102 dataset meanwhile giving a mAP of 97.18% on the local data set along with a recall of 94.88% and a precision of 97.50%. These findings demonstrate that the proposed model is very effective in detecting real-life scenarios and can help in the production of crops improving the yield quality and quantity at the same time.

关键词： Deep learning classification of pests YOLOCSP-PEST pest detection

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Wide field of view large aperture meta-doublet eyepiece

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Light(science & Applications) 2025年第1期14卷 167-176页

作者： Anna Wirth-Singh Johannes E.Fröch Fan Yang Louis Martin Hanyu Zheng Hualiang Zhang Quentin T.Tanguy Zhihao Zhou Luocheng Huang Demis DJohn Biljana Stamenic Juejun Hu Tian Gu Arka Majumdar Department of Physics University of WashingtonSeattleWAUSA Department of Electrical and Computer Engineering University of WashingtonSeattleWAUSA Department of Materials Science and Engineering Massachusetts Institute of TechnologyCambridgeMAUSA Department of Electrical and Computer Engineering University of MassachusettsLowellMAUSA Department of Electrical and Computer Engineering University of CaliforniaSanta BarbaraCAUSA

Wide field of view and light weight optics are critical for advanced eyewear,with applications in augmented/virtual reality and night *** refractive lenses are often stacked to correct aberrations at a wide field of view,leading to limited performance and increased size and *** particular,simultaneously achieving a wide field of view and large aperture for light collection is desirable but challenging to realize in a compact ***,we demonstrate a wide field of view(greater than 60°)meta-optic doublet eyepiece with an entrance aperture of 2.1 *** the design wavelength of 633 nm,the meta-optic doublet achieves comparable performance to a refractive lens-based eyepiece *** meta-doublet eyepiece illustrates the potential for meta-optics to play an important role in the development of high-quality monochrome near-eye displays and night vision systems.

关键词： optics refractive illustrate

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Multimodal emotion recognition model via hybrid model with improved feature level fusion on facial and EEG feature set

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Multimedia Tools and Applications 2025年第1期84卷 1-36页

作者： Singh, Pratima Tripathi, Mukesh Kumar Patil, Mithun B. Shivendra Neelakantappa, Madugundu Department of Computer Science and Engineering Galgotias University Gautam Buddh Nagar Uttar Pradesh India Department of Computer Science and Engineering Vardhaman College of Engineering Telangana Hyderabad India Department of Computer Science and Engineering N K Orchid College of Engineering & Technology Maharastra Solapur India Department of Computer Application D. K. College Dumraon Bihar Buxar India Department of Information Technology Vasavi College of Engineering Telangana Hyderabad India

In recent years, academics have placed a high value on multi-modal emotion identification, as well as extensive research has been conducted in the areas of video, text, voice, and physical signal emotion detection. This paper proposes a novel multimodal emotion recognition model that employs a hybrid model with AMIG-based feature fusion on facial and EEG feature sets. The EEG signal and facial image are subjected to preprocessing to remove unwanted background noises with the Butterworth filter and Viola Jones Algorithm, respectively. While considering the pre-processed EEG signal, features such as EWFS-transform, wavelet features, and CSP-based features are extracted. In the proposed EWFS-transform, the window function is modified by using the frequency function and updated STFT. Conversely, the features including SE-AMM-EST-based features;LGXP and GLCM are extracted while considering the preprocessed face image. In the proposed SE-AMM-EST-based features, the mean of shape is updated and covariance in PCA for extracting texture-based features. In order to extract redundant free essential features, AMIG-based feature fusion is proposed. Further, the fused features are fed into a proposed hybrid model that includes LSTM and AML-CNN models. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： Textures

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Text steganography: enhanced character-level embedding algorithm using font attribute with increased resilience to statistical attacks

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Multimedia Tools and Applications 2025年第11期84卷 9367-9392页

作者： KL, Shreya Narasimhan R, Bala Krishnan Department of Computer Science and Engineering National Institute of Technology Tiruchirappalli Tamil Nadu Tiruchirappalli India

Text steganography, the science of hiding secret messages in innocent-looking text documents ensures the secrecy of the embedded secret. Cryptography, on the other hand, encrypts and converts the secret message into an unintelligible form ensuring confidentiality, integrity, and authentication of the message. It is to be noted that both steganography and cryptography are expected to work together hand-in-hand in order to attain a better security. Hence, a methodology that combines techniques from both steganography and cryptography is an unavoidable one for the complete protection of sensitive data. This paper aims to achieve one such methodology. The best existing method which works in similar direction is observed to use character spacing feature of text documents to embed the secrets. The method is reported to attain an average embedding capacity of ≈2 bits/cover-character and 8-bits/distortion with high imperceptibility and considerable cryptographic security. However, during experimentation, it is noticed that the methodology has the potential vulnerability of leaving clues for attackers with a probability of 0.51% which paves way for possible statistical attacks namely frequency analysis. This vulnerability occurred because of the constant left circular shift operation that is performed after embedding each secret character. This paper aims to address this vulnerability by proposing a novel modification that facilitates the methodology to perform both left and right circular shifts in an unbiased manner, based on the embedded secret, without affecting the notable achievements of the existing methodology. The proposed modification is successfully implemented, and further analysis indicated that the performed modification has in fact embedded the secret characters uniformly thereby reducing the standard deviation by 24%. This increased the resilience of the extended method to potential attacks that rely on statistical techniques. © The Author(s), under exclusive

关键词： Cryptography

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IoT enabled plant leaf disease segmentation and multi-classification using mayfly bald eagle optimization-enabled machine learning

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Multimedia Tools and Applications 2024年第21期83卷 59747-59781页

作者： Mishra, Monalisa Choudhury, Prasenjit Pati, Bibudhendu Department of Computer Science and Engineering National Institute of Technology Durgapur India Department of Computer Science Rama Devi Women’s University Bhubaneswar India

Agricultural production is critical to the economy. This is one of the reasons why disease detection in plants is so important in agricultural settings, as plant disease is rather common. Farmers are not engaged in increasing their agricultural productivity daily since there are no technologies in the previous system to detect diseases in various crops in an agricultural environment. With the exponential population growth, food scarcity is a huge concern globally. In addition to this, the productivity of agricultural products has been highly impacted by the rapid increase in phytopathological adversities. The main challenges in leaf segmentation and plant disease identification are prior knowledge is required for segmentation, the implementation still lacks the accuracy of results, and more tweaking is required. To reduce the devastating impacts of illnesses on the economy, early detection of illnesses in plants is therefore essential. This paper describes an approach for segmenting and detecting plant leaf diseases based on images acquired via the Internet of Things (IoT) network. Here, a plant leaf area is segmented with a UNet, whose trainable parameters are optimized using the Mayfly Bald Eagle Optimization (MBEO) algorithm. Further, plant type classification is carried out by the Deep batch normalized AlexNet (DbneAlexNet), optimized by the Sine Cosine Algorithm-based Rider Neural Network (SCA-based RideNN). Finally, the DbneAlexNet, with weights adapted by the MBEO algorithm, is used to identify plant disease. The Plant Village dataset is used to evaluate the proposed DbneAlexNet-MBEO for plant-type classification and disease detection. The efficiency of the UNet-MBEO for segmentation is examined based on the Dice coefficient and Intersectin over Union (IOU) and has achieved superior values of 0.927 and 0.907. Moreover, the DbneAlexNet-MBEO is examined considering accuracy, Test Negative Rate (TNR), and Test Positive Rate (TPR) and offered superior values of 0

关键词： Classification (of information)

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A Deep Learning based Ultra-Lightweight Architecture for Atrial Fibrillation Detection Using Single-Lead ECG Recordings

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IEEE Access 2025年 13卷 86474-86486页

作者： Khan, Abbas Mughal, Muhammad Rizwan Irtaza, Syed Ali Khan, Mohsin Tahir, Madiha Ali, Ahtisham Saeed, Zoraize Ghulam Ishaq Khan Institute of Engineering Science and Technology Pakistan Sultan Qaboos University Electrical and Computer Engineering Department Muscat Oman Institute of Space Technology Electrical Engineering and Computer Science Department Islamabad Pakistan FAST National University of Computer and Emerging Sciences Islamabad Pakistan

In this paper, we have proposed a novel deep-learning model to process electrocardiogram (ECG) signals from single-lead ECG device. This is achieved by using a hybrid of CNN (convolutional neural network) and LSTM (long short-term memory) neural netwrok, where CNN extracts localized features from ECG signals, while the LSTM network extract temporal relationships. Moreover, a filtering-based method is proposed to generate synthetic data to overcome the data imbalance posed by the publicly available PhysioNet/CinC Challenge 2017 dataset. Specifically, three distinct ECG filters: Neurokit, BioSPPy, and EngZeeMod are used to perform data augmentation. As depicted by the simulation results, the proposed model exhibits superior performance with an F1 score of 99.56% providing a gain of 102.25 dB in terms of model size and performance gain of 1.06% outperforming existing state-of-the-art method enabling cost-effective real-time diagnosis with an inference time of 0.48×10-3 secs. Atrial fibrillation (A-Fib), a common cardiac arrhythmia, is linked to serious complications like heart failure and stroke, which early diagnosis could prevent. However, its paroxysmal and often asymptomatic nature complicates detection. In this paper, we propose a novel deep-learning model for single-lead ECG signal analysis, combining a convolutional neural network (CNN) to extract localized features and a long short-term memory (LSTM) network to capture temporal dependencies. To address data imbalance in the PhysioNet/CinC Challenge 2017 dataset, we employ a filtering-based approach with Neurokit, BioSPPy, and EngZeeMod for synthetic data generation. Simulation results show the model achieves a 99.56% F1 score, a 102.25 dB gain in efficiency, a 1.06% performance gain over the state-of-the-art method, and real-time diagnosis with a 0.48×10-3 second inference time. These simulation results confirm the superior performance of the proposed model. © 2013 IEEE.

关键词： Electrocardiography

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Complex preference analysis: a score-based evaluation strategy for ranking and comparison of the evolutionary algorithms

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Soft Computing 2025年第4期29卷 1967-1980页

作者： Sarkar, Debojyoti Biswas, Anupam Department of Computer Science and Engineering National Institute of Technology Silchar Assam Silchar788010 India

In this paper, an evaluation strategy is proposed for evaluation of optimization algorithms, called the Complex Preference Analysis, that assesses the efficiency of different evolutionary algorithms by considering multiple performance metrics concurrently across diverse dimensions and generating a single score for ranking. The proposed strategy allows for a thorough evaluation by assigning distinct priorities in the form of weights, to various performance parameters. The algorithm’s performances on each performance parameter are captured and the best and worst performances in each performance category are identified. The deviation of each algorithm from the best and worst performances in the respective performance category is formulated to generate a single score for each of the algorithms for comparison. The flexibility to adjust weights provides a valuable tool for customizing evaluations according to individual needs and preferences. The proposed evaluation strategy is studied by running evaluations on nine evolutionary algorithms based on their performance over five performance indicators on six datasets of the Travelling Salesman Problem. Conducting Complex Preference Analysis on the different evolutionary algorithms reveals distinctive patterns in their performance, with some algorithms such as Simulated Annealing, Tabu Search, Bat Algorithm, Genetic Algorithm, etc. consistently demonstrating superior results across multiple Travelling Salesman Problem instances, while other algorithms such as Ant Colony Optimization, Teaching Learning Based Optimization, etc. rank lower. The algorithms’ performances on individual performance parameters, when reflected on the final rank of the algorithms, generated based on the collective impact of all the parameters, elucidate the efficiency of the proposed evaluation strategy. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Optimization algorithms

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LARSI-TPE-XGB: Short-Term Load Forecasting by Load-Adaptive Relative Strength Index and Fusion of Tree-Structured Parzen Estimator and XGBoost

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IEEE Transactions on Power Delivery 2025年第3期40卷 1318-1330页

作者： Liu, Jin-Xian Leu, Jenq-Shiou National Taiwan University of Science and Technology Department of Electronic and Computer Engineering Taipei106216 Taiwan

Power load forecasting is essential for optimizing power generation and distribution efficiency. This paper proposes a novel method for daily average load forecasting, referred to as LARSI-TPE-XGB, which integrates the Load-Adaptive Relative Strength Index (LARSI) with the Tree-structured Parzen Estimator (TPE) and eXtreme Gradient Boosting (XGBoost). Our method significantly improves the accuracy and generalization ability of short-term load forecasting (STLF) by addressing limitations in feature extraction and hyperparameter optimization. The proposed LARSI enhances the forecasting model by adapting an improved Relative Strength Index (RSI) for power load prediction, while TPE optimizes the model's hyperparameters to dynamically adjust to time-series updates, thus mitigating the issue of XGBoost's sensitivity to hyperparameters in high-dimensional scenarios. Experimental results on real-world power load datasets demonstrate that LARSI-TPE-XGB reduces errors by 18.58% and 30.73% in root mean squared error (RMSE) across two different datasets compared to models without LARSI-TPE-XGB and outperforms state-of-the-art models, as confirmed by the Diebold-Mariano (DM) test. Our method consistently improves performance across various datasets, while we further investigate the influence of LARSI and other factors, such as weather conditions, on forecasting accuracy. © 1986-2012 IEEE.

关键词： Electric load forecasting

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SMILES2DTA: a CNN-based approach for identifying drug candidates and predicting drug-target binding affinity

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Neural Computing and Applications 2024年第4期37卷 2891-2910页

作者： Mukit, Hasanul Hossain, Sayeed Farabi, Mirza Milan Chowdhury, Mehrab Zaman Pritom, Ahmed Iqbal Rana, Humayan Kabir Department of Computer Science and Engineering Green University of Bangladesh Narayanganj-1461 Dhaka Bangladesh Department of Computer Science The University of Alabama at Birmingham BirminghamAL United States Department of Computer Science and Engineering Islamic University of Technology Gazipur Bangladesh

Computational approaches can speed up the drug discovery process by predicting drug-target affinity, otherwise it is time-consuming. In this study, we developed a convolutional neural network (CNN)-based model named SMILES2DTA (Simplified Molecular Input Line Entry System to Drug-Target Affinity) for predicting the binding affinity between a drug and a target protein. The model utilizes CNNs to process sequences of both drug SMILES and target proteins. SMILES2DTA generates multiple sequences from a single drug SMILES sequence, validates them based on Lipinski’s rule of five, and assesses their binding affinity against a target protein sequence. We evaluated our model using publicly available datasets and compared its performance to state-of-the-art methods. The results showed that SMILES2DTA outperformed the existing methods and demonstrated improved accuracy, mean squared error, and area under the precision-recall curve. SMILES2DTA has the potential to speed up the drug discovery process by reducing the time and cost complexity of identifying effective drugs. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Drug discovery

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