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Active Contact Engagement for Aerial Navigation in Unknown Environments With Glass

IEEE Robotics and Automation Letters 2025年第6期10卷 6464-6471页

作者： Chen, Xinyi Zhang, Yichen Zou, Hetai Wang, Junzhe Shen, Shaojie Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and passive contact-resilient aerial vehicle designs to detect glass surfaces, which are often limited in terms of robustness and efficiency. In this work, we propose a novel approach for robust autonomous aerial navigation in unknown environments with transparent glass obstacles, combining the strengths of both sensor-based and contact-based glass detection. The proposed system begins with the incremental detection and information maintenance about potential glass surfaces using visual sensor measurements. The vehicle then actively engages in touch actions with the visually detected potential glass surfaces using a pair of lightweight contact-sensing modules to confirm or invalidate their presence. Following this, the volumetric map is efficiently updated with the glass surface information and safe trajectories are replanned on the fly to circumvent the glass obstacles. We validate the proposed system through real-world experiments in various scenarios, demonstrating its effectiveness in enabling efficient and robust autonomous aerial navigation in complex real-world environments with glass obstacles. © 2016 IEEE.

关键词： Robots

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Falcon Optimization Algorithm-Based Energy Efficient Communication Protocol for Cluster-Based Vehicular Networks

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computers, Materials & Continua 2024年第3期78卷 4243-4262页

作者： Youseef Alotaibi B.Rajasekar R.Jayalakshmi Surendran Rajendran Department of Software Engineering College of ComputingUmm Al-Qura UniversityMakkah21955Saudi Arabia Department of Electronics and Communication Engineering Sathyabama Institute of Science and TechnologyChennai600119India Department of Computer Science and Engineering Panimalar Engineering CollegeChennai600123India Department of Computer Science and Engineering Saveetha School of EngineeringSaveetha Institute of Medical and Technical ScienceChennai602105India

Rapid development in Information technology(IT)has allowed several novel application regions like large outdoor vehicular networks for Vehicle-to-Vehicle(V2V)*** networks give a safe and more effective driving experience by presenting time-sensitive and location-aware *** communication occurs directly between V2V and Base Station(BS)units such as the Road Side Unit(RSU),named as a Vehicle to Infrastructure(V2I).However,the frequent topology alterations in VANETs generate several problems with data transmission as the vehicle velocity differs with ***,the scheme of an effectual routing protocol for reliable and stable communications is *** research demonstrates that clustering is an intelligent method for effectual routing in a mobile ***,this article presents a Falcon Optimization Algorithm-based Energy Efficient Communication Protocol for Cluster-based Routing(FOA-EECPCR)technique in *** FOA-EECPCR technique intends to group the vehicles and determine the shortest route in the *** accomplish this,the FOA-EECPCR technique initially clusters the vehicles using FOA with fitness functions comprising energy,distance,and trust *** the routing process,the Sparrow Search Algorithm(SSA)is derived with a fitness function that encompasses two variables,namely,energy and distance.A series of experiments have been conducted to exhibit the enhanced performance of the FOA-EECPCR *** experimental outcomes demonstrate the enhanced performance of the FOA-EECPCR approach over other current methods.

关键词： Vehicular networks communication protocol clustering falcon optimization algorithm routing

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Advancing Bankruptcy Forecasting With Hybrid Machine Learning Techniques: Insights From an Unbalanced Polish Dataset

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IEEE Access 2024年 12卷 9369-9381页

作者： Ainan, Ummey Hany Por, Lip Yee Chen, Yen-Lin Yang, Jing Ku, Chin Soon Universiti Malaya Faculty of Computer Science and Information Technology Department of Computer System and Technology Kuala Lumpur50603 Malaysia National Taipei University of Technology Department of Computer Science and Information Engineering Taipei106344 Taiwan Universiti Tunku Abdul Rahman Department of Computer Science Kampar31900 Malaysia

The challenge of bankruptcy prediction, critical for averting financial sector losses, is amplified by the prevalence of imbalanced datasets, which often skew prediction models. Addressing this, our study introduces the innovative hybrid model XGBoost+ANN, designed to leverage the strengths of both ensemble learning and artificial neural networks. This model integrates a comprehensive set of features with parameters optimized through genetic algorithms, eschewing traditional feature selection approaches. Our research focuses on an unbalanced dataset of Polish companies and reveals that the XGBoost+ANN model, in particular, exhibits outstanding performance. Optimized using genetic algorithms and without feature selection, this model achieved the highest AUC (0.958), sensitivity (0.752), and accuracy (0.983) scores, surpassing other models in our study. This remarkable outperformance, along with the robust results, marks a substantial advancement in the field of bankruptcy prediction. It underscores the efficacy of our approach in addressing the persistent challenge of data imbalance, offering a more reliable and accurate solution for financial risk assessment. © 2013 IEEE.

关键词： Feature extraction

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Integration of data science with the intelligent IoT(IIoT):Current challenges and future perspectives

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Digital Communications and Networks 2025年第2期11卷 280-298页

作者： Inam Ullah Deepak Adhikari Xin Su Francesco Palmieri Celimuge Wu Chang Choi Department of Computer Engineering Gachon UniversitySeongnamSujeong-gu 13120Republic of Korea University of Electronic Science and Technology of China Chengdu 611731China College of Information Science and Engineering Hohai University213000China Department of Computer Science University of SalernoItaly Graduate School of Informatics and Engineering The University of Electro-Communications 1-5-1ChofugaokaChofu-shiTokyo182-8585Japan

The Intelligent Internet of Things(IIoT)involves real-world things that communicate or interact with each other through networking technologies by collecting data from these“things”and using intelligent approaches,such as Artificial Intelligence(AI)and machine learning,to make accurate *** science is the science of dealing with data and its relationships through intelligent *** state-of-the-art research focuses independently on either data science or IIoT,rather than exploring their ***,to address the gap,this article provides a comprehensive survey on the advances and integration of data science with the Intelligent IoT(IIoT)system by classifying the existing IoT-based data science techniques and presenting a summary of various *** paper analyzes the data science or big data security and privacy features,including network architecture,data protection,and continuous monitoring of data,which face challenges in various IoT-based *** insights into IoT data security,privacy,and challenges are visualized in the context of data science for *** addition,this study reveals the current opportunities to enhance data science and IoT market *** current gap and challenges faced in the integration of data science and IoT are comprehensively presented,followed by the future outlook and possible solutions.

关键词： Data science Internet of things(IoT) Big data Communication systems Networks Security Data science analytics

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Association Rules Mining for Season-Specific Time Frame in a Retail Supermarket 3

Association Rules Mining for Season-Specific Time Frame in a...

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3rd International Conference on Advancement in Electrical and Electronic engineering, ICAEEE 2024

作者： Nayeem, Md. Julker Zaman, Md. Shahid Uz Rajshahi University of Engineering & Technology Department of Computer Science & Engineering Rajshahi Bangladesh Pundra University of Science & Technology Department of Computer Science & Engineering Bogura Bangladesh

ISBN: (纸本)9798350388282

In the realm of data mining, analysis of the market basket is a common issue. Many associations have been found from the item sets of transactions after the daily transactions have been analyzed for different seasons or the whole of the year with a specific time frame. In a retail market, there are numerous products present in their database that are regularly bought just during a certain period in a day of a specific season, even though they are not often thought of as frequently purchased products. For example, commodities like bread and cake are more in demand during the morning session, whereas beverages and noodles are more in demand during the afternoon and evening sessions. Similarly, Hot coffee has a high demand in the winter season whereas in the summer, there is a huge demand for ice cream. During the monsoon season, cake and cookies are in high demand. Rice and soybean oil have high demand in the whole year. This study focused on identifying different types of frequent items as well as recognizing the connection among several frequent item sets by analyzing supermarket transactions. Besides this, the FP-Growth algorithm is utilized in our research to determine several relevant rules for different time frames of a day (morning, afternoon and evening) within a certain season (summer, monsoon and winter) and the entire year by analyzing the transactions. Our empirical research shows that the proposed method is computationally efficient at different times in a day of a specific season or whole of the year, helping a retail supermarket, a Bangladeshi retailer, make the right choices and increase sales. © 2024 IEEE.

关键词： Association rules

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Application of adaptive guard channel reservation under hard handoff constraint in wireless cellular network

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International Journal of Wireless and Mobile Computing 2025年第2期28卷 170-185页

作者： Sahu, Promod Kumar Pati, Hemanta Kumar Pradha, Sateesh Kumar Department of Computer Science and Application Utkal University Vani Vihar Odisha Bhubaneswar India Department of Computer Science and Engineering International Institute of Information Technology Bhubaneswar Odisha Bhubaneswar India

Voice is the king of communication in wireless cellular network (WCN). Again, WCNs provide two types of calls, i.e., new call (NC) and handoff call (HC). Generally, HCs have higher priority than NCs because call dropping gives negative impact to users as compared to call blocking. So, to handle this problem some channels are reserved for HCs. If more channels are reserved for HCs, then handoff call dropping probability (HCDP) decreases at the same time as new call blocking probability (NCBP) increases;if fewer channels are reserved for HCs, HCDP increases and NCBP decreases. If channels are reserved for HCs by considering target HCDP then HCDP will be below the target and NCBP will be minimum for that target. So, keeping this in mind in this paper, we propose a mathematical model that estimates optimal number of guard channels (GCs) for HCs by considering target HCDP and keeping NCBP minimum. The mathematical model proposed assume static traffic parameters. However, in reality, the user traffic is dynamic and usually inherited through its testbed implementation. To obtain optimal performance we propose an adaptive GC reservation scheme by considering hard handoff constraint while implementing this model through testbed. Finally, we have verified testbed results with those of the model-based approach applying the parameters of different Global System for Mobile Communication (GSM) standards to evaluate its applicability to real systems. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： Testbeds

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Harmonization of Heart Disease Dataset for Accurate Diagnosis:A Machine Learning Approach Enhanced by Feature engineering

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computers, Materials & Continua 2025年第3期82卷 3907-3919页

作者： Ruhul Amin Md.Jamil Khan Tonway Deb Nath Md.Shamim Reza Jungpil Shin Department of Computer Science and Engineering Metropolitan UniversitySylhet3104Bangladesh Department of Statistics Pabna University of Science and TechnologyPabna6600Bangladesh Department of Computer Science & Engineering University of AizuAizu-WakamatsuFukushima956-8580Japan

Heart disease includes a multiplicity of medical conditions that affect the structure,blood vessels,and general operation of the *** researchers have made progress in correcting and predicting early heart disease,but more remains to be *** diagnostic accuracy of many current studies is inadequate due to the attempt to predict patients with heart disease using traditional *** using data fusion from several regions of the country,we intend to increase the accuracy of heart disease prediction.A statistical approach that promotes insights triggered by feature interactions to reveal the intricate pattern in the data,which cannot be adequately captured by a single *** processed the data using techniques including feature scaling,outlier detection and replacement,null and missing value imputation,and more to improve the data ***,the proposed feature engineering method uses the correlation test for numerical features and the chi-square test for categorical features to interact with the *** reduce the dimensionality,we subsequently used PCA with 95%*** identify patients with heart disease,hyperparameter-based machine learning algorithms like RF,XGBoost,Gradient Boosting,LightGBM,CatBoost,SVM,and MLP are utilized,along with ensemble *** model’s overall prediction performance ranges from 88%to 92%.In order to attain cutting-edge results,we then used a 1D CNN model,which significantly enhanced the prediction with an accuracy score of 96.36%,precision of 96.45%,recall of 96.36%,specificity score of 99.51%and F1 score of 96.34%.The RF model produces the best results among all the classifiers in the evaluation matrix without feature interaction,with accuracy of 90.21%,precision of 90.40%,recall of 90.86%,specificity of 90.91%,and F1 score of 90.63%.Our proposed 1D CNN model is 7%superior to the one without feature engineering when compared to the suggested *** illustrates how interaction-focu

关键词： Heart disease harmonization feature interaction PCA model hyper tuning machine learning

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Integration of Blockchain and IPFS: healthcare data management & sharing for IoT Environment

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Multimedia Tools and Applications 2024年 1-22页

作者： Mishra, Rajiv Kumar Yadav, Rajesh Kumar Nath, Prem Department of Computer Science & amp Engineering Jaypee Institute of Information Technology Noida India Department of Computer Science & amp Engineering Delhi Technological University Delhi India Department of Computer Science HNB Garhwal University Srinagar India

The immense volume of data generated and collected by smart devices has significantly enhanced various aspects of our daily lives. However, safeguarding the sensitive information shared among these devices is crucial. Ensuring the security of the Internet of Things (IoT) ecosystem from unauthorized access is imperative. Blockchain technology emerges as a promising solution to address these security concerns. Nevertheless, the effectiveness of Blockchain in handling the extensive data generated by smart devices is challenged by the rapid pace of IoT data generation and the slower transaction validation speed within Blockchain networks. This research aims to resolve these issues by integrating Blockchain with the Inter-Planetary File System (IPFS), creating a robust framework for secure data recording on a distributed storage network while enabling authorized access to the stored data. The proposed mechanism involves defining and recording access policies and cryptographic hash content on the Blockchain network, while storing the actual IoT-generated data on IPFS to enhance the confidentiality, integrity, and availability (CIA) triad. Performance assessments of the proposed scheme demonstrate its security and practicality, validating its potential for real-world application. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： Electronic health record

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Efficient video summarization through MobileNetSSD: a robust deep learning-based framework for efficient video summarization focused on objects of interest

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Multimedia Tools and Applications 2024年 1-26页

作者： Yarrarapu, Manasa Leelavathy, Narkedamilly Haritha, Dasari Department of Computer Science and Engineering Jawaharlal Nehru Technological University Andhra Pradesh Kakinada533003 India Department of Computer Science and Engineering Godavari Institute of Engineering and Technology Andhra Pradesh Rajahmundry533296 India Department of Computer Science and Engineering University College of Engineering Jawaharlal Nehru Technological University Andhra Pradesh Kakinada533003 India

Now-a-days, the generation of videos has increased dramatically due to the quick growth of multimedia and the internet. The need for effective ways to store, manage, and index the massive numbers of videos has become imperative due to this expansion. As a result, a method needs to be proposed that collects only the necessary data from the original recording. In computer vision, Video summarization is a significant task, and its primary goal is to give a quick summary of the video by removing irrelevant information and capturing key frames from the video. Many approaches have developed over the last several decades, using the most recent deep neural network architectures that represent the current state-of-the-art. Our method involves extracting vital key frames from the input video using the MobileNetSSD model, which is well-known for its efficient recognition and localization of objects of interest. These highlighted frames are essential in creating a detailed video summary. Furthermore, a method of temporal analysis is applied to guarantee that the summary accurately reflects the relevant events in the order in which they occurred, contributing to a coherent and meaningful representation of the information. We evaluated the proposed approach on TV Sum and SUM me video datasets, comparing the results against cutting-edge video summarization techniques. Our approach works effectively to produce clear and meaningful video summaries. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： Network architecture

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An Improved Robust Sparse Convex Clustering

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Tsinghua science and technology 2023年第6期28卷 989-998页

作者： Jinyao Ma Haibin Zhang Shanshan Yang Jiaojiao Jiang Gaidi Li Beijing Institute for Scientific and Engineering Computing Faculty of ScienceBeijing University of TechnologyBeijing 100124China School of Computer Science and Engineering University of New South WalesSydney 2052Australia

Convex clustering,turning clustering into a convex optimization problem,has drawn wide *** overcomes the shortcomings of traditional clustering methods such as K-means,Density-Based Spatial Clustring of Applications with Noise(DBSCAN)and hierarchical clustering that can easily fall into the local optimal ***,convex clustering is vulnerable to the occurrence of outlier features,as it uses the Frobenius norm to measure the distance between data points and their corresponding cluster centers and evaluate *** accurately identify outlier features,this paper decomposes data into a clustering structure component and a normalized component that captures outlier *** from existing convex clustering evaluating features with the exact measurement,the proposed model can overcome the vast difference in the magnitude of different features and the outlier features can be efficiently identified and *** solve the proposed model,we design an efficient algorithm and prove the global convergence of the *** on both synthetic datasets and UCI datasets demonstrate that the proposed method outperforms the compared approaches in convex clustering.

关键词： convex clustering outlier features block coordinate descent Newton’s method

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