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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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Efficient and lightweight CNN model for COVID-19 diagnosis from CT and X-ray images using customized pruning and quantization techniques

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Neural Computing and Applications 2025年 1-20页

作者： Sriwiboon, Nattavut Department of Computer Science and Information Technology Faculty of Science and Health Technology Kalasin University Kalasin Thailand

The coronavirus disease 2019 (COVID-19) has posed significant challenges globally, with image classification becoming a critical tool for detecting COVID-19 from chest X-ray and CT images. Convolutional neural network (CNN) architectures are widely employed for this purpose, yet many previous models have struggled to balance high accuracy with low storage requirements, limiting their applicability in resource-constrained environments. This paper introduces an efficient and lightweight CNN model optimized for COVID-19 diagnosis through pruning and quantization techniques, addressing these limitations. Our approach significantly reduces storage size and parameter count while maintaining high accuracy. We customized several CNNs, particularly EfficientNetV2 and MobileNetV2, to achieve these goals. We specifically selected EfficientNetV2 and MobileNetV2 due to their superior balance of accuracy and efficiency, making them well-suited for lightweight medical applications. EfficientNetV2’s storage size has been reduced from 568 to 142 KB through customized pruning, achieving 98.9% accuracy for 2-class and 98.28% for 3-class X-ray classification, as well as 98.3% and 98.05% for 2-class and 3-class CT classification, respectively. MobileNetV2, after hybrid pruning and quantization, achieved a remarkably low storage size of 70 KB, making it highly effective for deployment in environments with limited resources. Despite a slight accuracy decrease of 0.9 to 1.58%, both models have maintained robust performance suitable for COVID-19 diagnosis. The results demonstrate that our pruning and quantization techniques are effective in developing lightweight, high-performance CNN models, making them suitable for broader applications in medical imaging where both efficiency and accuracy are critical. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： COVID-19

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rafPS:A shapley-based visual analytics approach to interpret traffic

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Computational Visual Media 2024年第6期10卷 1101-1119页

作者： Zezheng Feng Yifan Jiang Hongjun Wang Zipei Fan Yuxin Ma Shuang-Hua Yang Huamin Qu Xuan Song Department of Computer Science and Engineering Southern University of Science and TechnologyShenzhen 18055China Department of Computer Science and Engineering Hong Kong University of Science and TechnologyHong KongChina Department of Computer Science University of ReadingBerkshire RG66AHUK Center for Spatial Information Science the University of TokyoTokyo 113-00331Japan Shenzhen Key Laboratory of Safety and Security for Next Generation of Industrial Internet Southern University of Science and TechnologyShenzhen 518055China

Recent achievements in deep learning(DL)have demonstrated its potential in predicting traffic *** predictions are beneficial for understanding the situation and making traffic control ***,most state-of-the-art DL models are consi-dered“black boxes”with little to no transparency of the underlying mechanisms for end *** previous studies attempted to“open the black box”and increase the interpretability of generated ***,handling complex models on large-scale spatiotemporal data and discovering salient spatial and temporal patterns that significantly influence traffic flow remain *** overcome these challenges,we present TrafPS,a visual analytics approach for interpreting traffic prediction outcomes to support decision-making in traffic management and urban *** measurements region SHAP and trajectory SHAP are proposed to quantify the impact of flow patterns on urban traffic at different *** on the task requirements from domain experts,we employed an interactive visual interface for the multi-aspect exploration and analysis of significant flow *** real-world case studies demonstrate the effectiveness of TrafPS in identifying key routes and providing decision-making support for urban planning.

关键词： data visualization model interpretation urban planning urban visual analytics

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Dynamic Modeling of Robotic Manipulator via an Augmented Deep Lagrangian Network

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Tsinghua science and technology 2024年第5期29卷 1604-1614页

作者： Shuangshuang Wu Zhiming Li Wenbai Chen Fuchun Sun School of Automation Beijing Information Science and Technology UniversityBeijing 100192China Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China

Learning the accurate dynamics of robotic systems directly from the trajectory data is currently a prominent research *** physics-enforced networks,exemplified by Hamiltonian neural networks and Lagrangian neural networks,demonstrate proficiency in modeling ideal physical systems,but face limitations when applied to systems with uncertain non-conservative dynamics due to the inherent constraints of the conservation laws *** this paper,we present a novel augmented deep Lagrangian network,which seamlessly integrates a deep Lagrangian network with a standard deep *** fusion aims to effectively model uncertainties that surpass the limitations of conventional Lagrangian *** proposed network is applied to learn inverse dynamics model of two multi-degree manipulators including a 6-dof UR-5 robot and a 7-dof SARCOS manipulator under *** experimental results clearly demonstrate that our approach exhibits superior modeling precision and enhanced physical credibility.

关键词： deep Lagrangian network nonconservative dynamics multi-degree manipulator inverse dynamic modeling

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Best low-cost methods for real-time detection of the eye and gaze tracking

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i-com 2024年第1期23卷 79-94页

作者： Khaleel, Amal Hameed Abbas, Thekra H. Ibrahim, Abdul-Wahab Sami Department of Computer Science College of Computer Science and Information Technology Basrah University Barsh61004 Iraq Department of Computer Science College of Science Mustansiriyah University Baghdad Iraq Department of Computer Science College of Education Mustansiriya University Baghdad Iraq

The study of gaze tracking is a significant research area in computer vision. It focuses on real-world applications and the interface between humans and computers. Recently, new eye-tracking applications have boosted the need for low-cost methods. The eye region is a crucial aspect of tracking the direction of the gaze. In this paper, several new methods have been proposed for eye-tracking by using methods to determine the eye area as well as find the direction of gaze. Unmodified webcams can be used for eye-tracking without the need for specialized equipment or software. Two methods for determining the eye region were used: facial landmarks or the Haar cascade technique. Moreover, the direct method, based on the convolutional neural network model, and the engineering method, based on distances determining the iris region, were used to determine the eye’s direction. The paper uses two engineering techniques: drawing perpendicular lines on the iris region to identify the gaze direction junction point and dividing the eye region into five regions, with the blackest region representing the gaze direction. The proposed network model has proven effective in determining the eye’s gaze direction within limited mobility, while engineering methods improve their effectiveness in wide mobility. © 2023 the author(s), published by De Gruyter.

关键词： Eye tracking

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HoLens:A visual analytics design for higher-order movement modeling and visualization

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Computational Visual Media 2024年第6期10卷 1079-1100页

作者： Zezheng Feng Fang Zhu Hongjun Wang Jianing Hao Shuang-Hua Yang Wei Zeng Huamin Qu Department of Computer Science and Engineering The Hong Kong University of Science and TechnologyHong KongChina Department of Computer Science and Engineering Southern University of Science and TechnologyShenzhen 518055China Thrust of Computational Media and Arts(CMA) The Hong Kong University of Science and Technology(Guangzhou)Guangzhou 511458China Department of Computer Science University of ReadingBerkshire RG66AHUK Shenzhen Key Laboratory of Safety and Security for Next Generation of Industrial Internet Southern University of Science and TechnologyShenzhen 518055China

Higher-order patterns reveal sequential multistep state transitions,which are usually superior to origin-destination analyses that depict only first-order geospatial movement *** methods for higher-order movement modeling first construct a directed acyclic graph(DAG)of movements and then extract higher-order patterns from the ***,DAG-based methods rely heavily on identifying movement keypoints,which are challenging for sparse movements and fail to consider the temporal variants critical for movements in urban *** overcome these limitations,we propose HoLens,a novel approach for modeling and visualizing higher-order movement patterns in the context of an urban *** mainly makes twofold contributions:First,we designed an auto-adaptive movement aggregation algorithm that self-organizes movements hierarchically by considering spatial proximity,contextual information,and tem-poral ***,we developed an interactive visual analytics interface comprising well-established visualization techniques,including the H-Flow for visualizing the higher-order patterns on the map and the higher-order state sequence chart for representing the higher-order state *** real-world case studies demonstrate that the method can adaptively aggregate data and exhibit the process of exploring higher-order patterns using *** also demonstrate the feasibility,usability,and effectiveness of our approach through expert interviews with three domain experts.

关键词： data visualization movement modeling state sequence visualization movement visualization urban visual analytics

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Modified DS np Chart Using Generalized Multiple Dependent State Sampling under Time Truncated Life Test

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computer Modeling in Engineering & sciences 2024年第3期138卷 2471-2495页

作者： Wimonmas Bamrungsetthapong Pramote Charongrattanasakul Division of Applied Statistics Department of Mathematics and Computer ScienceFaculty of Science and TechnologyRajamangala University of Technology ThanyaburiPathum Thani12110Thailand Division of Mathematics Department of Mathematics and Computer ScienceFaculty of Science and TechnologyRajamangala University of Technology KrungthepBangkok10120Thailand

This study presents the design of a modified attributed control chart based on a double sampling(DS)np chart applied in combination with generalized multiple dependent state(GMDS)sampling to monitor the mean life of the product based on the time truncated life test employing theWeibull *** control chart developed supports the examination of the mean lifespan variation for a particular product in the process of *** control limit levels are used:the warning control limit,inner control limit,and outer control ***,they enhance the capability for variation detection.A genetic algorithm can be used for optimization during the in-control process,whereby the optimal parameters can be established for the proposed control *** control chart performance is assessed using the average run length,while the influence of the model parameters upon the control chart solution is assessed via sensitivity analysis based on an orthogonal experimental design withmultiple linear regression.A comparative study was conducted based on the out-of-control average run length,in which the developed control chart offered greater sensitivity in the detection of process shifts while making use of smaller samples on average than is the case for existing control ***,to exhibit the utility of the developed control chart,this paper presents its application using simulated data with parameters drawn from the real set of data.

关键词： Modified DS np chart generalizedmultiple dependent state sampling time truncated life test Weibull distribution average run length average sample size

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A Novel CAPTCHA Recognition System Based on Refined Visual Attention

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computers, Materials & Continua 2025年第4期83卷 115-136页

作者： Zaid Derea Beiji Zou Xiaoyan Kui Monir Abdullah Alaa Thobhani Amr Abdussalam School of Computer Science and Engineering Central South UniversityChangsha410083China College of Computer Science and Information Technology Wasit UniversityWasit52001Iraq Department of Computer Science and Artificial Intelligence College of Computing and Information TechnologyUniversity of BishaBisha67714Saudi Arabia Electronic Engineering and Information Science Department University of Science and Technology of ChinaHefei230026China

Improving website security to prevent malicious online activities is crucial,and CAPTCHA(Completely Automated Public Turing test to tell computers and Humans Apart)has emerged as a key strategy for distinguishing human users from automated ***-based CAPTCHAs,designed to be easily decipherable by humans yet challenging for machines,are a common form of this ***,advancements in deep learning have facilitated the creation of models adept at recognizing these text-based CAPTCHAs with surprising *** our comprehensive investigation into CAPTCHA recognition,we have tailored the renowned UpDown image captioning model specifically for this *** approach innovatively combines an encoder to extract both global and local features,significantly boosting the model’s capability to identify complex details within CAPTCHA *** the decoding phase,we have adopted a refined attention mechanism,integrating enhanced visual attention with dual layers of Long Short-Term Memory(LSTM)networks to elevate CAPTCHA recognition *** rigorous testing across four varied datasets,including those from Weibo,BoC,Gregwar,and Captcha 0.3,demonstrates the versatility and effectiveness of our *** results not only highlight the efficiency of our approach but also offer profound insights into its applicability across different CAPTCHA types,contributing to a deeper understanding of CAPTCHA recognition technology.

关键词： Text-based CAPTCHA recognition refined visual attention web security computer vision

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A survey of deep learning-based 3D shape generation

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Computational Visual Media 2023年第3期9卷 407-442页

作者： Qun-Ce Xu Tai-Jiang Mu Yong-Liang Yang BNRist Department of Computer Science and TechnologyTsinghua UniversityBeijing 100084China Department of Computer Science University of BathBathUK

Deep learning has been successfully used for tasks in the 2D image *** on 3D computer vision and deep geometry learning has also attracted *** achievements have been made regarding feature extraction and discrimination of 3D *** recent advances in deep generative models such as generative adversarial networks,effective generation of 3D shapes has become an active research *** 2D images with a regular grid structure,3D shapes have various representations,such as voxels,point clouds,meshes,and implicit *** deep learning of 3D shapes,shape representation has to be taken into account as there is no unified representation that can cover all tasks *** such as the representativeness of geometry and topology often largely affect the quality of the generated 3D *** this survey,we comprehensively review works on deep-learning-based 3D shape generation by classifying and discussing them in terms of the underlying shape representation and the architecture of the shape *** advantages and disadvantages of each class are further *** also consider the 3D shape datasets commonly used for shape ***,we present several potential research directions that hopefully can inspire future works on this topic.

关键词： 3D representations geometry learning generative models deep learning

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A Context-Aware Recommendation System with Effective Contextual Pre-Filtering Model

Informatica (Slovenia)

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Informatica (Slovenia) 2025年第15期49卷 155-164页

作者： Hameed, Duaa H. Hassan, Rehab F. Department of Computer Science University of Technology-Iraq Baghdad Iraq

Informational resources have significantly expanded as a result of the growth of the internet. Consequently, making personalized suggestions about different types of information, goods, and services is the best strategy to assist customers in solving the issue of information overload. As a result, recommendation systems are employed to aid clients in locating the products most appropriate to their interests. The majority of traditional recommender systems rely on a traditional model that just takes into account user-item-rating interactions without taking context into account. It has been demonstrated that context-aware recommender systems deliver improved predicted performance across a variety of areas by attempting to adapt to users' preferences across various settings. This study presents a proposed system to help the recommender system solve its difficulties in producing accurate predictions that are relevant to the user's preferences. The system is the Contextual Pre-filtering Based Collaborative Filtering (CPBCF) model, which is based on splitting items. To decrease the time and space needed for processing correlations, it depends on the recommended splitting approach utilizing the variance equation, which decreases the dataset depending on the most important attributes. In the proposed system experiments, the performance of CPBCF with and without contextual pre-filtering was enhanced by (5-7%) for the precision, (7-8%) for the recall, and (7-8%) for the f1-measuer. While the complexity time has enhanced by (3-4 sec). The effectiveness of the CPBCF model was evaluated using various numbers of neighbors. We can observe that neighborhood size does have an effect on forecast accuracy. © 2025 Slovene Society Informatika. All rights reserved.

关键词： Collaborative filtering

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