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Data-driven output regulation control for constrained linear systems

science China(Information sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Reaching and Grasping with NAO Robot 16th

Reaching and Grasping with NAO Robot

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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Borghese, N. Alberto Chitti, Eleonora Laboratory of Applied Intelligent Systems Department of Computer Science University of Milan Milan Italy

ISBN: (纸本)9789819635184

In this paper we propose a robust approach that combines classical computer vision with a smart setup that enables a NAO humanoid robot to play with children. Blocks are adopted as playing objects as they are widely used and are a highly versatile support. This approach addresses the challenges of object reaching and grasping, by allowing the robot to approach the table over which activity is carried out, orient appropriately, plan the reaching movement that is executed partly through direct and partly through inverse kinematics, grasp the block, moving it over the table and releasing it into its target position. By integrating visual information provided by the robot cameras into a closed-loop control system, no additional sensors are required. This approach enables not only children to play with a Humanoid robot in a richer way, but also to be used to treat cognitive / motor deficits inside what is termed Robot Assisted Therapy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Anthropomorphic robots

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Comparison of Machine Learning Algorithms for Predicting Thyroid Disorders in Diabetic Patients

Informatica (Slovenia)

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Informatica (Slovenia) 2025年第12期49卷 105-114页

作者： Sayyid, Hiba O. Mahmood, Salma A. Hamadi, Saad S. Department of Computer Science University of Basrah College of Computer Sciences and Information Technology Basrah Iraq Department of Intelligent Medical Systems University of Basrah College of Computer Sciences and Information Technology Basrah Iraq Department of Internal Medicine University of Basrah College of Medicine Basrah Iraq

Machine Learning (ML), a subfield of Artificial Intelligence (AI), has been used successfully in the healthcare domain for disease diagnosis. Thyroid disorders and diabetes are two of the most prevalent and interconnected chronic diseases, as both play critical roles in regulating various physiological processes in the body. This study aims to predict thyroid disorders in diabetes patients using six machine learning algorithms: Random Forest (RF), Decision Tree (DT), K-Nearest Neighbors (KNN), Logistic Regression (LR), Naïve Bayes (NB), and Support Vector Machine (SVM). A locally sourced dataset comprising 44,539 instances of diabetic patients was utilized, undergoing preprocessing steps including data cleaning, encoding, and balancing. Two balancing techniques were employed: manual balancing and RandomUnderSampler. The dataset was partitioned into training and testing sets using a Stratified K-Fold cross-validation approach with 10 folds to ensure robust evaluation. Each algorithm’s performance was assessed using metrics such as accuracy and F1-score. Among the models, the RF algorithm outperformed the others, achieving the highest accuracy of 95% on the manually balanced dataset and 84% when the RandomUnderSampler technique was employed. Additionally, the F1-scores for RF were 95% and 82%, respectively, indicating its robustness in handling imbalanced datasets. This study highlights the importance of selecting appropriate preprocessing techniques and machine learning methods for healthcare datasets. The findings can assist healthcare providers in making early diagnoses and interventions for thyroid disorders in diabetic patients, potentially improving their quality of life and overall healthcare outcomes. © 2025 Slovene Society Informatika. All rights reserved.

关键词： Logistic regression

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Deep Learning Based Side-Channel Attack Detection for Mobile Devices Security in 5G Networks

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清华大学学报自然科学版（英文版） 2025年第3期30卷 1012-1026页

作者： Amjed A.Ahmed Mohammad Kamrul Hasan Ali Alqahtani Shayla Islam Bishwajeet Pandey Leila Rzayeva Huda Saleh Abbas Azana Hafizah Mohd Aman Nayef Alqahtani Center for Cyber Security Faculty of Information Science and TechnologyUniversiti Kebangsaan MalaysiaBangi 43600Malaysia Imam Alkadhim University College Department of Computer Techniques EngineeringBaghdad 10066Iraq Center for Cyber Security Faculty of Information Science and TechnologyUniversiti Kebangsaan MalaysiaBangi 43600Malaysia Department of Networks and Communications Engineering College of Computer Science and Information SystemsNajran UniversityNajran 61441Saudi Arabia Institute of Computer Science and Digital Innovation UCSI UniversityKuala Lumpur 56000Malaysia Department of Intelligent Systems and Cyber Security Astana IT UniversityAstana 20000Kazakstan Department of Computer Science College of Computer Science and EngineeringTaibah UniversityMadinah 42353Saudi Arabia Department of Electrical Engineering College of EngineeringKing Faisal UniversityAl-Hofuf 31982Saudi Arabia

Mobile devices within Fifth Generation(5G)networks,typically equipped with Android systems,serve as a bridge to connect digital gadgets such as global positioning system,mobile devices,and wireless routers,which are vital in facilitating end-user communication ***,the security of Android systems has been challenged by the sensitive data involved,leading to vulnerabilities in mobile devices used in 5G *** vulnerabilities expose mobile devices to cyber-attacks,primarily resulting from security ***-permission apps in Android can exploit these channels to access sensitive information,including user identities,login credentials,and geolocation *** such attack leverages"zero-permission"sensors like accelerometers and gyroscopes,enabling attackers to gather information about the smartphone's *** underscores the importance of fortifying mobile devices against potential future *** research focuses on a new recurrent neural network prediction model,which has proved highly effective for detecting side-channel attacks in mobile devices in 5G *** conducted state-of-the-art comparative studies to validate our experimental *** results demonstrate that even a small amount of training data can accurately recognize 37.5％of previously unseen user-typed ***,our tap detection mechanism achieves a 92％accuracy rate,a crucial factor for text *** findings have significant practical implications,as they reinforce mobile device security in 5G networks,enhancing user privacy,and data protection.

关键词： Fifth Generation(5G)networks smartphone information leakage Side-Channel Attack(SCA) deep learning

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A Mathematical and Dynamical Model for Analyzing H-Shaped PM Vernier Motor for Electric Motorcycle Mid-Drive Applications

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IEEE Transactions on Energy Conversion 2025年第1期40卷 529-543页

作者： Ghods, Mehrage Faiz, Jawad Bazrafshan, Mohammad Amin Gorginpour, Hamed Toulabi, Mohammad Sedigh University of Tehran School of Electrical and Computer Engineering College of Engineering Tehran*** Iran Persian Gulf University Department of Intelligent Systems Engineering and Data Science Bushehr*** Iran Oakland University Department of Electrical and Computer Engineering RochesterMI48309 United States

The permanent magnet (PM) Vernier machines enhance torque density and decrease cogging torque compared to conventional permanent magnet synchronous motor. This paper presents a novel fractional-slot H-shaped PM Vernier machines, which incorporates unique design for the PM housing and rotor core construction. These designs are specifically optimized for the small-scale electric vehicles application. The choice of the PM arrangement is based on the combination of V-shaped and spoke-array PM topologies. The aim is to achieve a higher torque density than V-shaped PM machines, while reducing cogging torque compared to spoke-array PM machines. By using this methodology, leakage fluxes in the terminal region of the PMs reduce, resulting in an augmentation of both flux-linkage and power factor. A prototype 680 W motor was fabricated with 12 slots and 8 poles to verify the accuracy and effectiveness of the proposed model. Mathematical model and dynamical analysis are proposed for the analytical prediction of machine performance. Due to the unique shape feature of the machine, the conformal mapping approach is applied to design the rotor core. To validate the model, the predicted performance of the motor was compared with those obtained by finite element analysis and experiments. © 1986-2012 IEEE.

关键词： Permanent magnets

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A graph-based method for identity resolution to assist police force investigative process

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Journal of Cyber Security Technology 2025年第2期9卷 127-150页

作者： Amirhosseini, Mohammad Hossein Kazemian, Hassan Phillips, Michael Department of Computer Science and Digital Technologies University of East London London United Kingdom Intelligent Systems Research Centre School of Computing and Digital Media London Metropolitan University London United Kingdom

The ability to prove an individual identity has become crucial in social, economic, and legal aspects of life. Identity resolution is the process of semantic reconciliation that determines whether a single identity is the same when being described differently. This paper introduces a novel graph-based methodology for identity resolution, designed to reconcile identities by analysing the similarity of attribute values associated with different identities within a policing dataset. The proposed methodology employs graph analysis techniques, including centrality measurement and community detection, to enhance the identity resolution process. This paper also presents a new identity model for identity resolution. SPIRIT policing dataset was used for testing the proposed methodology. This dataset is an anonymised dataset used in the SPIRIT project funded by EU Horizon. It contains 892 identity records and among these, two ’known’ identities utilize different names but actually represent the same individual. The presented method successfully recognised these two identities. Additionally, another experimental evaluation was conducted on a refined and extended version of the dataset and the false identities were successfully detected. This method can assist police forces in identifying criminals and fraudsters using fake identities and has applications across finance, marketing, and customer service. © 2024 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Statistical tests

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Towards Generalization of Tactile Image Generation: Reference-Free Evaluation in a Leakage-Free Setting

arXiv

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arXiv 2025年

作者： Gungor, Cagri Eppinger, Derek Kovashka, Adriana Intelligent Systems Program Department of Computer Science University of Pittsburgh United States

Tactile sensing, which relies on direct physical contact, is critical for human perception and underpins applications in computer vision, robotics, and multimodal learning. Because tactile data is often scarce and costly to acquire, generating synthetic tactile images provides a scalable solution to augment real-world measurements. However, ensuring robust generalization in synthesizing tactile images—capturing subtle, material-specific contact features—remains challenging. We demonstrate that overlapping training and test samples in commonly used datasets inflate performance metrics, obscuring the true generalizability of tactile models. To address this, we propose a leakage-free evaluation protocol coupled with novel, reference-free metrics—TMMD, I-TMMD, CI-TMMD, and D-TMMD—tailored for tactile generation. Moreover, we propose a vision-to-touch generation method that leverages text as an intermediate modality by incorporating concise, material-specific descriptions during training to better capture essential tactile features. Experiments on two popular visuo-tactile datasets, Touch and Go and HCT, show that our approach achieves superior performance and enhanced generalization in a leakage-free setting. © 2025, CC BY.

关键词： Information leakage

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Explainable Artificial Intelligence Driven Segmentation for Cervical Cancer Screening

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IEEE Access 2025年 13卷 71306-71322页

作者： Sritharan, Niruthikka Gnanavel, Nishaanthini Inparaj, Prathushan Meedeniya, Dulani Yogarajah, Pratheepan University of Moratuwa Department of Computer Science and Engineering Moratuwa10400 Sri Lanka Ulster University School of Computing Engineering and Intelligent Systems LondonderryBT48 7JL United Kingdom

Cervical cancer remains an important global health challenge among women. Early and accurate identification of abnormal cervical cells is crucial for effective treatment and improved survival rates. This paper addresses the development of a novel weakly supervised segmentation framework that combines binary classification, Explainable Artificial Intelligence (XAI) techniques, and GraphCut to automate cervical cancer screening. Unlike traditional segmentation methods that rely on pixel-level annotations of medical images, which are costly, laborious, and require expertise in medical imaging, our approach leverages classification-driven insights to segment the nucleus, cytoplasm, and background regions. A key innovation of our framework is the use of XAI techniques such as Grad-CAM++ and LRP combined with GraphCut, to enable annotation-free segmentation using only classification-level labels. This represents a pioneering application of explainability techniques in the context of cervical cancer screening. Among the classification models explored, including fine-tuned variants of VGGNet and XceptionNet, VGG16-Adapted128 achieved the highest performance, marked by an accuracy of 0.94, precision of 0.94, recall of 0.94, and an F1 score of 0.94. This novel segmentation framework employed LRP and GradCAM++ as XAI techniques to gain insight into the decision-making process of classification models, with GradCAM++ demonstrating greater effectiveness. The performance of these XAI methods was assessed through both visual inspection and quantitative metrics, including entropy and pixel flipping. This innovative approach to segmentation is formally introduced through two algorithms detailed in this paper. The weakly supervised segmentation framework achieved a Dice Similarity Coefficient (DSC) of 62.05% and an Intersection over Union (IoU) of 61.89%. In addition, it has received high satisfaction ratings from expert evaluations and has been seamlessly integrated into a user-frie

关键词： Self-supervised learning

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A General Framework for Clustering and Distribution Matching with Bandit Feedback

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IEEE Transactions on Information Theory 2025年第3期71卷 2116-2139页

作者： Yavas, Recep Can Huang, Yuqi Tan, Vincent Y. F. Scarlett, Jonathan CNRS@CREATE DesCartes Program CREATE Tower 138602 Singapore National University of Singapore Department of Computer Science Queenstown119077 Singapore National University of Singapore School of Computing Department of Information Systems and Analytics Queenstown119077 Singapore National University of Singapore Department of Mathematics Department of Electrical and Computer Engineering Queenstown119077 Singapore Institute of Data Science National University of Singapore Department of Computer Science The Department of Mathematics Queenstown119077 Singapore

We develop a general framework for clustering and distribution matching problems with bandit feedback. We consider a K-armed bandit model where some subset of K arms is partitioned into M groups. Within each group, the random variable associated to each arm follows the same distribution on a finite alphabet. At each time step, the decision maker pulls an arm and observes its outcome from the random variable associated to that arm. Subsequent arm pulls depend on the history of arm pulls and their outcomes. The decision maker has no knowledge of the distributions of the arms or the underlying partitions. The task is to devise an online algorithm to learn the underlying partition of arms with the least number of arm pulls on average and with an error probability not exceeding a pre-determined value δ. Several existing problems fall under our general framework, including finding M pairs of arms, odd arm identification, and N-ary clustering of K arms belong to our general framework. We derive a non-asymptotic lower bound on the average number of arm pulls for any online algorithm with an error probability not exceeding δ. Furthermore, we develop a computationally-efficient online algorithm based on the Track-and-Stop method and Frank-Wolfe algorithm, and show that the average number of arm pulls of our algorithm asymptotically matches that of the lower bound. Our refined analysis also uncovers a novel bound on the speed at which the average number of arm pulls of our algorithm converges to the fundamental limit as δ vanishes. © 1963-2012 IEEE.

关键词： Random variables

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Multi-Scale Time Series Segmentation Network Based on Eddy Current Testing for Detecting Surface Metal Defects

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 528-538页

作者： Xiaorui Li Xiaojuan Ban Haoran Qiao Zhaolin Yuan Hong-Ning Dai Chao Yao Yu Guo Mohammad S.Obaidat George Q.Huang the School of Intelligence Science and Technology University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering the Key Laboratory of Intelligent Bionic Unmanned Systems and the Institute of Materials Intelligent Technology Liaoning Academy of Materials IEEE the Department of Computer Science Hong Kong Baptist University the School of Computer and Communication Engineering Key Laboratory of Advanced Materials and Devices for Post-Moore Chips Ministry of Education University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing the School of Computer and Communication Engineering University of Science and Technology Beijing the King Abdullah Ⅱ School of Information Technology The University of Jordan the Department of Computational Intelligence the School of Computing SRM University the School of Engineering The Amity University The Hong Kong Polytechnic University

In high-risk industrial environments like nuclear power plants, precise defect identification and localization are essential for maintaining production stability and safety. However, the complexity of such a harsh environment leads to significant variations in the shape and size of the defects. To address this challenge, we propose the multivariate time series segmentation network(MSSN), which adopts a multiscale convolutional network with multi-stage and depth-separable convolutions for efficient feature extraction through variable-length templates. To tackle the classification difficulty caused by structural signal variance, MSSN employs logarithmic normalization to adjust instance distributions. Furthermore, it integrates classification with smoothing loss functions to accurately identify defect segments amid similar structural and defect signal subsequences. Our algorithm evaluated on both the Mackey-Glass dataset and industrial dataset achieves over 95% localization and demonstrates the capture capability on the synthetic dataset. In a nuclear plant's heat transfer tube dataset, it captures 90% of defect instances with75% middle localization F1 score.

关键词： Eddy current testing nondestructive testing semantic segmentation time series analysis

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