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Velocity control of a Stephenson III six-bar linkage-based gait rehabilitation robot using deep reinforcement learning

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Neural Computing and Applications 2025年第7期37卷 5671-5682页

作者： Kapsalyamov, Akim Brown, Nicholas A. T. Goecke, Roland Jamwal, Prashant K. Hussain, Shahid School of Information Technology and Systems University of Canberra CanberraACT2617 Australia School of Clinical Sciences Queensland University of Technology BrisbaneQLD Australia School of Systems and Computing UNSW CanberraACT Australia Department of Electrical and Computer Engineering Nazarbayev University Nur-Sultan City Kazakhstan

Lower limb rehabilitation robots can help to improve the locomotor capabilities of patients experiencing gait impairments and help medical workers by reducing strain on them. However, since commercially available exoskeletons are expensive and there is a lack of number of physiotherapists many patients are still not able to get proper rehabilitation training. The closed-loop linkage mechanisms have recently drawn much attention in the realization of gait rehabilitation robots. Such mechanisms are affordable and capable of providing suitable trajectories for gait training therapy. In this work, we have proposed a fully operational one degree-of-freedom mechanism which can generate complex naturalistic lower limb trajectories. Although in theory, it is assumed that the constant speed applied at the input crank is sufficient to control the system, in reality, the external forces exerted by human legs and the inertia of the links can greatly alter the rotational velocity at the crank, which may negatively affect the training process. Therefore, we have explored the performance of a deep reinforcement learning-based control algorithm designed to regulate the speed of the input crank to reach satisfactory performance needed for gait rehabilitation training. Experimental evaluations with healthy human subjects were conducted to demonstrate that the mechanism is capable of directing lower limbs on naturalistic gait trajectories with a required walking speed. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Exoskeleton (Robotics)

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Exploring Author Style in Nakba Short Stories: A Comparative Study of Transformer-Based Models 1

Exploring Author Style in Nakba Short Stories: A Comparative...

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1st International Workshop on Nakba Narratives as Language Resources, Nakba-NLP 2025

作者： Hamed, Osama Zaidkilani, Nadeem Department of Computer Systems Engineering Palestine Technical University-Kadoorie Palestine Department of Computer Engineering and Security Mathematics University Rovira i Virgili Spain Department of Engineering and Technology Al-Zaytona University of Science and Technology Palestine

ISBN: (纸本)9798891762169

Measuring semantic similarity and analyzing authorial style are fundamental tasks in Natural Language Processing (NLP), with applications in text classification, cultural analysis, and literary studies. This paper investigates the semantic similarity and stylistic features of Nakba short stories, a key component of Palestinian literature, using transformer-based models, AraBERT, BERT, and RoBERTa. The models effectively capture nuanced linguistic structures, cultural contexts, and stylistic variations in Arabic narratives, outperforming the traditional TF-IDF baseline. By comparing stories of similar length, we minimize biases and ensure a fair evaluation of both semantic and stylistic relationships. Experimental results indicate that RoBERTa achieves slightly higher performance, highlighting its ability to distinguish subtle stylistic patterns. This study demonstrates the potential of AI-driven tools to provide more in-depth insights into Arabic literature, and contributes to the systematic analysis of both semantic and stylistic elements in Nakba narratives. © 2025 Association for Computational Linguistics.

关键词： Computational linguistics

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Arabic Topic Classification Corpus of the Nakba Short Stories 1

Arabic Topic Classification Corpus of the Nakba Short Storie...

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1st International Workshop on Nakba Narratives as Language Resources, Nakba-NLP 2025

ISBN: (纸本)9798891762169

In this paper, we enrich Arabic Natural Language Processing (NLP) resources by introducing the "Nakba Topic Classification Corpus (NTCC)," a novel annotated Arabic corpus derived from narratives about the Nakba. The NTCC comprises approximately 470 sentences extracted from eight short stories and captures the thematic depth of the Nakba narratives, providing insights into both historical and personal dimensions. The corpus was annotated in a two-step process. One third of the dataset was manually annotated, achieving an IAA of 87% (later resolved to 100%), while the rest was annotated using a rule-based system based on thematic patterns. This approach ensures consistency and reproducibility, enhancing the corpus’s reliability for NLP research. The NTCC contributes to the preservation of the Palestinian cultural heritage while addressing key challenges in Arabic NLP, such as data scarcity and linguistic complexity. By like topic modeling and classification tasks, the NTCC offers a valuable resource for advancing Arabic NLP research and fostering a deeper understanding of the Nakba narratives. © 2025 Association for Computational Linguistics.

关键词： Computational linguistics

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Enhancing Performance of Machine Learning Models in Healthcare: An Analytical Framework for Assessing and Improving Data Quality 5th

Enhancing Performance of Machine Learning Models in Healthca...

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5th International Conference on Advances in Information Communication technology and Computing, AICTC 2024

作者： Al-Hgaish, Areen Atan, Rodziah Yaakob, Razali Osman, Mohd Hafeez Department of Software Engineering and Information Systems Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang44330 Malaysia Department of Computer Science Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang44330 Malaysia

ISBN: (纸本)9789819761050

The utilization of Data-Driven Machine Learning (DDML) models in the healthcare sector poses unique challenges due to the crucial nature of clinical decision-making and its impact on patient outcomes. A primary concern in this domain is the data quality that forms the basis for these models, which is essential for their effectiveness. While numerous studies are dedicated to leveraging Machine Learning (ML) to enhance patient care, a substantial gap exists in understanding and evaluating the quality of training data before training ML models. This issue is exacerbated by the lack of well-defined standards to ensure that data characteristics align with the specific goals of ML in healthcare. To address this, our study introduces a conceptual three-dimensional framework focusing on data accuracy, completeness, and consistency aimed at assessing and improving the quality of training data. This framework is designed to enhance the performance, predictability, and interpretability of healthcare-specific ML models and reduce biases, thus bridging current research gaps and laying the groundwork for future developments in ML-driven healthcare systems. This paper presents the initial step for our proposed Data Quality Framework (DQF), which addresses the three dimensions mentioned above. It discusses its potential implications and applications in healthcare data, and its main goal is to provide a comprehensive overview of the proposed DQF, illustrating its significance in advancing healthcare data quality and ultimately improving patient outcomes. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Data accuracy

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Scheduling Bi-Objective Lot-Streaming Hybrid Flow Shops with Consistent Sublots via an Enhanced Artificial Bee Colony Algorithm

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Complex System Modeling and Simulation 2025年第1期5卷 46-67页

作者： Lu, Benxue Gao, Kaizhou Duan, Peiyong Slowik, Adam School of Computer Science Liaocheng University Liaocheng252000 China Macau Institute of Systems Engineering Macau University of Science and Technology Macau999078 China School of Information and Automation Engineering Qilu University of Technology Jinan250353 China Koszalin University of Technology Department of Electronics and Computer Science Koszalin75-453 Poland

This work addresses bi-objective hybrid flow shop scheduling problems considering consistent sublots (Bi-HFSP_CS). The objectives are to minimize the makespan and total energy consumption. First, the Bi-HFSP_CS is formalized, followed by the establishment of a mathematical model. Second, enhanced version of the artificial bee colony (ABC) algorithms is proposed for tackling the Bi-HFSP_CS. Then, fourteen local search operators are employed to search for better solutions. Two different O-learning tactics are developed to embed into the ABC algorithm to guide the selection of operators throughout the iteration process. Finally, the proposed tactics are assessed for their efficacy through a comparison of the ABC algorithm, its three variants, and three effective algorithms in resolving 95 instances of 35 different problems. The experimental results and analysis showcase that the enhanced ABC algorithm combined with O-learning (QABC1) demonstrates as the top performer for solving concerned problems. This study introduces a novel approach to solve the Bi-HFSP_CS and illustrates its efficacy and superior competitive strength, offering beneficial perspectives for exploration and research in relevant domains. © 2021 TUP.

关键词： Energy utilization

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Hybrid Attendance Management System: Utilizing computer Vision and Deep Learning 18th

Hybrid Attendance Management System: Utilizing Computer Visi...

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18th International KES Conference on Agents and Multi-Agent systems: Technologies and Applications, KES-AMSTA 2024

作者： Noekhah, Shirin Mahmood, Mohammed Hamid Mohammed, Bawan Hiwa Bahrami, Mohammad Reza Department of Computer Science Komar University of Science and Technology Sulaimani Iraq Department of Computer Science Samarkand International University of Technology Samarkand Uzbekistan Lab of Cyber-Physical Systems Innopolis University Innopolis Russia

ISBN: (纸本)9789819764686

A hybrid attendance management system has gained widespread popularity since its inception. Traditional methods such as the QR (Quick Response)-code-based approach and the Haar-cascade technique have been used widely for their cost-effectiveness. However, modern techniques such as RFID with IoT (Internet of Things) and Convolutional Neural Networks (CNN) are powerful tools that offer location-based tracking capabilities and improve accuracy. This study introduces a novel Hybrid Attendance Management System to overcome traditional attendance systems’ challenges, including pose invariance, illumination, and partial occlusion. It combines traditional and modern techniques to automate attendance tracking to improve accuracy and efficiency. This hybrid system captured attendance data by employing computer vision, a deep learning-based facial biometric recognition approach, and its integration with RFID technology. The results showed the accuracy of the attendance management system under different circumstances such as lightning, external objects, and inactivity of students. It also provided valuable insights into students’ attendance patterns, including the number of exits and entries, the percentage of inactivity during class, and time spent outside the classroom. These data facilitated categorizing students as present, late, or absent. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Convolutional neural networks

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OFDM-structure based waveform designs for integrated sensing and communication

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Science China(Information Sciences) 2025年第5期68卷 267-284页

作者： Jiaqi LIU Ping YANG Ke JIANG Jiarong ZHAO Wei XIANG Jianping WEI Ruixiang DUAN Saviour ZAMMIT Tony Q.S.QUEK National Key Laboratory of Wireless Communications University of Electronic Science and Technology of China School of Computing Engineering and Mathematical Sciences La Trobe University Meituan Academy of Robotics Department of Communications and Computer Engineering University of Malta Information Systems Technology and Design Pillar Singapore University of Technology and Design

The future sixth-generation(6G) paradigm aims to seamlessly integrate communication and environmental sensing capabilities into a single radio signal, promising improved efficiency and cost-effectiveness through simultaneous data communications and environmental perception. At the core of this evolution, orthogonal frequency division multiplexing(OFDM) and its advanced waveforms emerge as pivotal for integrated sensing and communications(ISAC). This study introduces a concise and unified ISAC waveform design framework based on orthogonal multicarriers. This framework supports versatile applications of OFDM and its derivative waveforms within a generalized ISAC system, marking a significant leap in integrating communication and sensing capabilities. A distinguishing feature of this framework is its adaptability,allowing users to intelligently select modulation strategies based on their specific environmental needs. This adaptability optimizes performance across diverse scenarios. Central to our innovations is the proposal of discrete Fourier transformspread OFDM with index modulation(DFT-S-OFDM-IM). This framework is paired with newly proposed signal processing methods for single-input single-output and multiple-input multiple-output(MIMO) systems. Extensive evaluations highlight DFT-S-OFDM-IM's superiority, including dramatically reduced peak-to-average power ratios(PAPRs), competitive communication performance, and exceptional sensing capabilities, striking an elegant balance between communication capacity and environmental sensing precision.

关键词： DFT-S-OFDM-IM index modulation integrated sensing and communication OFDM

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Enhancing Skin Disease Diagnosis: Light GBM-DMS Algorithm for Accurate Image Classification

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Cognitive Computation 2025年第3期17卷 1-18页

作者： Kalpana, B. Senthilselvi, A. Muruganandam, S. Kumar, S. Vinodh Department of Information Technology RMD Engineering College Tamil Nadu Kavaraipettai India Department of Computer Science and Engineering SRM Institute of Science and Technology Ramapuram Tamil Nadu Chennai India Department of Computer Science and Business Systems Panimalar Engineering College Poonamallee Chennai Tamil Nadu India Department of Computer Science and Engineering Rajalakshmi Engineering College Tamil Nadu Thandalam Chennai India

Globally, skin diseases are emerging as the most common health problem. It initiates depressive disorder, and it also causes physical health distress. It rarely led to skin cancer in extreme cases. Diagnosing skin disease is subjective and time-consuming when it is performed by health experts manually. Hence, automatic skin disease prediction is required by both dermatologists and patients to enhance and accelerate treatment plans. Even though many machine-learning techniques are available to detect skin diseases, the timely prediction and accurate classification of skin lesions are still in demand. Hence, the Discrete Mycorrhizal Search Algorithm is used to optimize the novel LightGBM to meet this objective. Firstly, intrusions like noise elimination and hair removal are performed and then the image resizing takes place by utilizing the preprocessing pipelines. Subsequent to data pre-processing, the prime features are extracted using the convolutional self-attention based L2 regularization, thus minimizing the data complexity. At last, the extracted features are shifted to the final categorization phase which is done by the novel approach for effective classification of skin diseases. Two skin disease classification images, including datasets, the Skin Lesions Dermatoscopic Image dataset and Skin Cancer MNIST HAM10000, are selected to validate the classification performance. Comprehensive analyses are performed with significant measures that showed the proposed model attained better performances of 98.6%, 0.95, and 10.43 s from accuracy, intersection of union, and execution time, respectively. The stability and robustness under different environmental conditions for clinical applications in skin disease detection and classification tasks are analyzed for making decisions in real-time scenarios. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Dermatitis

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Author profiling from Romanized Urdu text using transfer learning models

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Neural Computing and Applications 2025年第6期37卷 4455-4470页

作者： Ali, Abid khan, Muhammad Sohail Khan, Muhammad Amin Khan, Sajid Ullah Khan, Faheem Department of Computer Software Engineering University of Engineering & Technology Mardan KPK Mardan23200 Pakistan Islamabad H-11/4 Islamabad44000 Pakistan Department of Information Systems College of Computer Engineering and Sciences Prince Sattam Bin Abdulaziz University Al-Kharj Saudi Arabia Department of Computer Engineering Gachon University Seongnam-Si Korea Republic of

This research concentrates on author profiling using transfer learning models for classifying age and gender. The investigation encompassed a diverse set of transfer learning techniques, including Roberta, BERT, ALBERT, Distil BERT, Distil Roberta, ELECTRA, and XLNet. Through meticulous evaluation using metrics such as the Matthews Correlation Coefficient, Accuracy, Precision, Recall, and F1 Score, the study examined the efficacy of these models. The curated dataset was divided for gender and age tasks, resulting in robust gender prediction with the XLNet model and age prediction with the BERT model. Notably, the XLNet model achieved the highest MCC (0.7946), Accuracy (0.8957), Precision (0.8992), Recall (0.8957), and F1 Score (0.8958) values in gender classification, while the BERT model excelled in age prediction with an MCC of (0.7338), Accuracy of (0.8220), Precision of (0.8324), Recall of (0.8220), and F1 Score of (0.8243). Visualized outcomes provide valuable insights into the model’s performance nuances, paving the way for their practical implementation. This research offers novel contributions to author profiling tasks, bridging the gap between theory and real-world applications. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Contrastive Learning

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Applications of Topological Data Analysis with Morphology Operators on Hypergraphs

Applications of Topological Data Analysis with Morphology Op...

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International Conference on Mathematics of Intelligent Computing and Data Science, ICMICDS 2022

作者： Ramkumar, P.B. Dhanya, P.M. Department of Mathematics Rajagiri School of Engineering and Technology Kerala Kakkanad India Department of Computer Science and Business Systems Rajagiri School of Engineering and Technology Kerala Kakkanad India

ISBN: (纸本)9789819615049

A hypergraph is a type of graph, H=(V,E) where V is the set of nodes and E is the set of hyperedges;where one edge consists of may nodes. Morphological operators are nonlinear operators which can be applied on images, graphs, hypergraphs etc. Dilation and erosion are morphological operators and other operators like opening, closing can be obtained by repeated application of these operators. Topological space consists of a set X together with topology τ defined on X, which satisfies the axioms namely Nullset, arbitrary union of opensets and finite intersection of opensets. Such a topological space S=(X,T) is compatible with a hypergraph H if X=VH∪EH where VH and EH are the vertex set and edge set respectively. The morphological operators induces several topology on hypergraph with its compatible topological space S=(X,T). Neighborhood of a node is defined in many ways which can be considered as open sets in the corresponding topological space. The purpose of this paper is to apply topological properties on hypergraphs using morphological operators. Separation axiom and closure function are illustrated using hypergraph structure. The work is extended to crime analysis, text processing and patient disease analysis. Topological feature extraction is done on Barcodes created from crime hypergraphs. This gives a better visualization of crime analysis. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Graph theory

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