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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

IEEE Transactions on Robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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Unified Approach Integrating Machine Learning Algorithms for Detection of e-Mail Phishing Attacks 1

Unified Approach Integrating Machine Learning Algorithms for...

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1st International Conference on Computing, sciences and Communications, ICCSC 2024

作者： Mathur, Abeer Dubey, Abhinav Sudhakar Mahara, Pranav Singh Gandhi, Usha Devi School of Computer Science & Engineering Vellore Institute of Technology Department of Software Systems Vellore India School of Computer Science Engineering & Information Systems Vellore Institute of Technology Department of Information Technology Vellore India

ISBN: (纸本)9798350353648

With the ever-rising risk of phishing attacks, which capitalize on vulnerable human behavior in the contemporary digital space, requires new cybersecurity methods. This literary work contributes to the solution by novel incorporation of three techniques: Support Vector Machine (SVM), Natural Language Processing (NLP) and Random Forest (RF). Utilizing NLP for deep analysis of text in phishing e-mails, SVM for strong categorization and Random Forest's decision making by group helps in improving detection. This combination of language and pattern analysis along with group learning builds a fortified system. This approach differs from prior work on a variety of factors such as reliability, security, integrity, scalability, interpretability, transparency, and robustness. Thorough evaluation on a reliable dataset aimed to demonstrate the method's effectiveness, which resulted in 98.7 % of accuracy in detection. This majorly aims at showcasing the potential of ensemble techniques to combat against cyber-attacks like phishing for laying a strong foundation for a secure digital environment. © 2024 IEEE.

关键词： Phishing

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D2LFS2Net:Multi-class skin lesion diagnosis using deep learning and variance-controlled Marine Predator optimisation:An application for precision medicine

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CAAI Transactions on Intelligence Technology 2025年第1期10卷 207-222页

作者： Veena Dillshad Muhammad Attique Khan Muhammad Nazir Oumaima Saidani Nazik Alturki Seifedine Kadry Department of Computer Science HITEC UniversityTaxilaPakistan Department of Computer Science and Mathematics Lebanese American UniversityBeirutLebanon Department of Information Systems College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh 11671Saudi Arabia Department of Electrical and Computer Engineering Lebanese American UniversityByblosLebanon

In computer vision applications like surveillance and remote sensing,to mention a few,deep learning has had considerable *** imaging still faces a number of difficulties,including intra-class similarity,a scarcity of training data,and poor contrast skin lesions,notably in the case of skin *** optimisation-aided deep learningbased system is proposed for accurate multi-class skin lesion *** sequential procedures of the proposed system start with preprocessing and end with *** preprocessing step is where a hybrid contrast enhancement technique is initially proposed for lesion identification with healthy *** of flipping and rotating data,the outputs from the middle phases of the hybrid enhanced technique are employed for data augmentation in the next ***,two pre-trained deep learning models,MobileNetV2 and NasNet Mobile,are trained using deep transfer learning on the upgraded enriched ***,a dual-threshold serial approach is employed to obtain and combine the features of both *** next step was the variance-controlled Marine Predator methodology,which the authors proposed as a superior optimisation *** top features from the fused feature vector are classified using machine learning *** experimental strategy provided enhanced accuracy of 94.4%using the publicly available dataset ***,the proposed framework is evaluated compared to current approaches,with remarkable results.

关键词： contrast enhancement deep learning dermoscopic images features optimization fusion skin cancer

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Leveraging Deep Learning Models for Machine-Generated Text Detection Using Transformer-Based Models

Leveraging Deep Learning Models for Machine-Generated Text D...

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2024 International Conference on Innovative Computing, Intelligent Communication and Smart Electrical systems, ICSES 2024

作者： Suthanthiradevi, P. Revathy, G. Rejini, K. Muthu Lakshmi, V. School of Computing Srm institute of Science and Technology Department of Data Science and Business Systems Kattankulathur Chennai India Vels Institute of science Technology and Advanced studies Department of Computer science and engineering Chennai117 India Amrita college of Engineering and Technology Department of Computer Science Engineering Nagercoil India St. Joseph's College of Engineering Department of Computer Science and Engineering OMR Chennai India

ISBN: (纸本)9798331543617

GPT is a large language model (LLM) derived from natural language processing that can generate a human-like text using machine learning. However, these models raise questions about authenticity and reliability of material, particularly in fields such as journalism, social media, and academia, despite their usefulness for automating text-based tasks. Detecting machine-generated text is thus an important difficulty in ensuring content integrity. This study investigates the use of huge language models as a technique for recognizing machine-generated material. The author proposes a comprehensive detection model by evaluating the language patterns, syntactic structures, and stylistic traits that separate AI-generated literature from human writing. In addition, this research investigate the possibilities of fine-tuning models designed expressly for text identification tasks and evaluate their performance using LLM - Detect AI Generated Text datasets. In digital ecosystems, LLMs are effective at detecting AI-generated text, providing a novel approach for content moderation, academic integrity checks, and synthetic media detection. An increasingly AI-powered future will require a model that can discriminate between human and machine-generated writing in real-time. According to experimental findings, the CNN architecture's design combined with the use of DistilBERT embeddings allows for the effective and efficient classification of AI generated text data, achieving an exceptional 98% accuracy rate. © 2024 IEEE.

关键词： Adversarial machine learning

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ECG Signal Classification of Cardiovascular Disorder using CWT and DCNN

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Journal of Biomedical Physics and engineering 2025年第1期15卷 77-92页

作者： Rahman, Tawfikur Ahommed, Rasel Deb, Nibedita Das, Utpal Kanti Moniruzzaman, Md. Bhuiyan, Md. Alamgir Sultana, Farzana Kausar, Md. Kamruzzaman Department of Electrical and Electronic Engineering Faculty of Engineering International University of Business Agriculture and Technology Uttara Dhaka 1230 Bangladesh Department of Agriculture International University of Business Agriculture and Technology Uttara Dhaka 1230 Bangladesh Department of Computer Science and Engineering Faculty of Engineering International University of Business Agriculture and Technology Uttara Dhaka 1230 Bangladesh

Background: Cardiovascular Diseases (CVD) requires precise and efficient diagnostic tools. The manual analysis of Electrocardiograms (ECGs) is labor-intensive, necessitating the development of automated methods to enhance diagnostic accuracy and efficiency. Objective: This research aimed to develop an automated ECG classification using Continuous Wavelet Transform (CWT) and Deep Convolutional Neural Network (DCNN), and transform 1D ECG signals into 2D spectrograms using CWT and train a DCNN to accurately detect abnormalities associated with CVD. The DCNN is trained on datasets from PhysioNet and the MIT-BIH arrhythmia dataset. The integrated CWT and DCNN enable simultaneous classification of multiple ECG abnormalities along-side normal signals. Material and Methods: This analytical observational research employed CWT to generate spectrograms from 1D ECG signals, as input to a DCNN trained on di-verse datasets. The model is evaluated using performance metrics, such as precision, specificity, recall, overall accuracy, and F1-score. Results: The proposed algorithm demonstrates remarkable performance metrics with a precision of 100% for normal signals, an average specificity of 100%, an average recall of 97.65%, an average overall accuracy of 98.67%, and an average F1-score of 98.81%. This model achieves an approximate average overall accuracy of 98.67%, highlighting its effectiveness in detecting ***: The integration of CWT and DCNN in ECG classification improves accuracy and classification capabilities, addressing the challenges with manual analy-sis. This algorithm can reduce misdiagnoses in primary care and enhance efficiency in larger medical institutions. By contributing to automated diagnostic tools for cardiovascular disorders, it can significantly improve healthcare practices in the field of CVD detection. © Journal of Biomedical Physics and engineering.

关键词： Wavelet transforms

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Empirical techniques for effort estimation in designing effective ML models

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International Journal of computers and Applications 2025年第2期47卷 226-234页

作者： Padmanabha Reddy, Y.C.A. Kosuru, Sai Sathwik Sirisalla, Nageswara Rao Vivekananda, G.N. Perala, Venkata Akanksha Department of Artificial Intelligence and Machine Learning Chaitanya Bharati Institute of Technology Telangana Hyderabad India Department of CSE B V Raju Institute of Technology Telangana Narsapur India Department of Computer Science and Engineering K.S.R.M. College of Engineering AP Kadapa India School of Computer Science Engineering and Information Systems Vellore Institute of Technology Vellore India

Machine Learning Research often involves the use of diverse libraries, modules, and pseudocodes for data processing, cleaning, filtering, pattern recognition, and computer intelligence. Quantization of Effort Required for the above cumulative processes is rarely discussed in the existing works and The time to reach the desired level of the model's functionality is essential to gauge the environment training for the model training and pre-deployment testing. In this study, we empirically defined the manual-cum-computational effort required for the model development in terms of 2-time factors: time-to-live (time until 1st code modification) and time-for-modification (time between 2 codebase changes) taken together in a mathematical model to compute Effort Factor(quantitative measure of determining effort needed to design ML algorithms). The study is novel in terms of how the effort required to create ML models is calculated with a particular focus on the manual effort direction. The results and the findings obtained can be used for determining the total time needed to synthesize ML models and frameworks in terms of code change cycles and implementation strategies marking a 25% performance increase in the current method above the Standard Pipeline. © 2025 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Pipeline codes

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Information Centric Networking Based Cooperative Caching Framework for 5G Communication systems

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computers, Materials & Continua 2024年第9期80卷 3945-3966页

作者： R.Mahaveerakannan Thanarajan Tamilvizhi Sonia Jenifer Rayen Osamah Ibrahim Khalaf Habib Hamam Department of Computer Science and Engineering Saveetha School of EngineeringSaveetha Institute of Medical and Technical SciencesChennai602105India Department of Computer Science and Engineering Panimalar Engineering CollegeChennai600123India Department of Computer Science and Engineering Sathyabama Institute of Science and TechnologyChennai600119India Department of Solar Energy Al-Nahrain Research Center for Renewable EnergyAl-Nahrain UniversityJadriyaBaghdad64074Iraq Faculty of Engineering Universitéde MonctonNew BrunswickE1A3E9Canada Hodmas University College Mogadishu521376Somalia Bridges for Academic Excellence Tunis1002Tunisia School of Electrical Engineering University of JohannesburgAuckland ParkJohannesburg2006South Africa

The demands on conventional communication networks are increasing rapidly because of the exponential expansion of connected multimedia *** light of the data-centric aspect of contemporary communication,the information-centric network(ICN)paradigm offers hope for a solution by emphasizing content retrieval by name instead of *** 5G networks are to meet the expected data demand surge from expanded connectivity and Internet of Things(IoT)devices,then effective caching solutions will be required tomaximize network throughput andminimize the use of ***,an ICN-based Cooperative Caching(ICN-CoC)technique has been used to select a cache by considering cache position,content attractiveness,and rate *** findings show that utilizing our suggested approach improves caching regarding the Cache Hit Ratio(CHR)of 84.3%,Average Hop Minimization Ratio(AHMR)of 89.5%,and Mean Access Latency(MAL)of 0.4 *** a framework,it suggests improved caching strategies to handle the difficulty of effectively controlling data consumption in 5G *** improvements aim to make the network run more smoothly by enhancing content delivery,decreasing latency,and relieving *** improving 5G communication systems’capacity tomanage the demands faced by modern data-centric applications,the research ultimately aids in advancement.

关键词： Information-centric networking caching schemes 5G communication non-negative matrix factorization(NMF) weighted clustering algorithm

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A Secure and Efficient Information Authentication Scheme for E-Healthcare System

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computers, Materials & Continua 2023年第9期76卷 3877-3896页

作者： Naveed Khan Jianbiao Zhang Ghulam Ali Mallah Shehzad Ashraf Chaudhry Faculty of Information Technology Beijing University of TechnologyBeijing100124China Department of Computer Science Shah Abdul Latif UniversityKhairpur66111Pakistan Department of Computer Engineering Faculty of Engineering ArchitectureNisantasi UniversityIstanbul34398Turkey

The mobile cellular network provides internet connectivity for heterogeneous Internet of Things(IoT)*** cellular network consists of several towers installed at appropriate locations within a smart *** cellular towers can be utilized for various tasks,such as e-healthcare systems,smart city surveillance,traffic monitoring,infrastructure surveillance,or sidewalk *** is a primary concern in data broadcasting,particularly authentication,because the strength of a cellular network’s signal is much higher frequency than the associated one,and their frequencies can sometimes be aligned,posing a significant *** a result,that requires attention,and without information authentication,such a barrier cannot be ***,we design a secure and efficient information authentication scheme for IoT-enabled devices tomitigate the flaws in the e-healthcare *** proposed protocol security shall check formally using the Real-or-Random(ROR)model,simulated using ProVerif2.03,and informally using pragmatic *** comparison,the performance phenomenon shall tackle by the already result available in the MIRACL cryptographic lab.

关键词： IoT-enable device e-healthcare authentication edge computing

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Speed Harmonic based Saturation Free Inductance Modeling and Estimation of Interior PMSM Using Measurements Under One Load Condition

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CES Transactions on Electrical Machines and systems 2025年第1期9卷 91-99页

作者： Guodong Feng Yuting Lu Zhe Tong Beichen Ding Guishan Yan Chunyan Lai the School of Intelligent Systems Engineering Sun Yat-sen UniversityShenzhenChina the School of Advanced Manufacturing Sun Yat-sen University the Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) China the Department of Electrical and Computer Engineering Concordia UniversityQCCanada

For permanent magnet synchronous machines(PMSMs),accurate inductance is critical for control design and condition *** to magnetic saturation,existing methods require nonlinear saturation model and measurements from multiple load/current conditions,and the estimation is relying on the accuracy of saturation model and other machine parameters in the *** harmonic produced by harmonic currents is inductance-dependent,and thus this paper explores the use of magnitude and phase angle of the speed harmonic for accurate inductance *** estimation models are built based on either the magnitude or phase angle,and the inductances can be from d-axis voltage and the magnitude or phase angle,in which the filter influence in harmonic extraction is considered to ensure the estimation *** inductances can be estimated from the measurements under one load condition,which is free of saturation ***,the inductance estimation is robust to the change of other machine *** proposed approach can effectively improve estimation accuracy especially under the condition with low current *** and comparisons are conducted on a test PMSM to validate the proposed approach.

关键词： PMSM Inductance estimation Speed harmonic High frequency signal injection

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Highly Efficient Three-Level AC-AC Converter with Identical In-Phase and Antiphase Buck-Boost Operations

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IEEE Transactions on Power Electronics 2024年第8期39卷 9929-9942页

作者： Ahmed, Hafiz Furqan Khan, Ashraf Ali Al Zaabi, Omar Mousavi, Seyyed Mohammad Javad Babaei, Ebrahim National Sun Yat-Sen University Department of Electrical Engineering Kaohsiung804 Taiwan Memorial University of Newfoundland Department of Electrical and Computer Engineering Faculty of Engineering and Applied Science St. John'sNLA1C 5S7 Canada Khalifa University Advanced Power and Energy Center Department of Electrical Engineering and Computer Science Abu Dhabi127788 United Arab Emirates University of Tabriz Faculty of Electrical and Computer Engineering Tabriz51666 Iran Near East University Engineering Faculty Nicosia99138 Turkey

In this article, a new coupled-inductors based three-level bipolar buck-boost ac-ac converter is proposed. The proposed converter can produce highly efficient and symmetric in-phase and antiphase buck and boost modes of operation with much lower component voltage and current stresses. This reduces the operation and design complexity, and helps to achieve a high-efficiency operation. The high-frequency modulating switches of the proposed converter are implemented with coupled-inductor-based dual-buck phase leg, producing three-level input and output voltages, and providing inherent protection from voltage-source short-circuit issue during switch transitions. The other salient features of the proposed converter are no-commutation issue, no need for RC snubbers or dedicated safe-commutation algorithms, provision of high-quality and continuous input/output currents, and support for nonresistive loads. An in-depth circuit analysis of the proposed converter is provided based on the proposed switch modulation strategies. The guidelines for component design/selection are discussed, followed by the comparisons with state-of-the-art three-level ac-ac converters. Finally, practical circuit verifications are performed on a laboratory-assembled prototype. © 1986-2012 IEEE.

关键词： Buck-Boost converter

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