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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Almir Salihbegovic Vedad Capin Emir Sokic Nedim Osmic Department for Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

control design for trajectory tracking of multi-rotor aerial vehicles (MAVs) represents a challenging task due to the under-actuated property, highly nonlinear and cross-coupled dynamics, modeling errors, parametric uncertainties and external disturbances. This paper presents the design of the first order sliding mode control (FOSMC) algorithm for trajectory tracking of the octo-rotor unmanned aerial vehicle (UAV) in the presence of various disturbances. The highly nonlinear octo-rotor UAV dynamics is considered via the generalized framework for MAVs modeling. The stability analysis of the closed-loop system is presented using the Lyapunov based approach. The developed FOSMC exhibits finite-time convergence of the octo-rotor trajec-tories to the sliding manifold and the asymptotic stability of the equilibrium in the presence of vanishing disturbances. Simulation studies show a superior tracking performance and robustness properties of the FOSMC in comparison with the concurrent techniques for trajectory tracking of the octo-rotor UAV in the presence of internal and external disturbances.

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3D Trajectory Tracking of a Quad-Rotor Unmanned Aerial Vehicle via the First Order Sliding Mode control

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3D Trajectory Tracking of a Quad-Rotor Unmanned Aerial Vehic...

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Almir Salihbegovic Azra Talic Nedim Osmic Emir Sokic Department for Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

control design for multi-rotor aerial vehicles (MAVs) is quite challenging problem due to their nonlinearitles, unknown dynamics, parametric uncertainties, an underactuated property, a nonlinear coupling dynamics and external disturbances. This paper introduces a first order sliding mode control (FOSMC) for robust stabilization of an under-actuated quad-rotor unmanned aerial vehicle (UAV) operating in the presence of external disturbances. The proposed FOSMC guarantees a finite time convergence of the system trajectories to the sliding surface. Obtained simulations show that the FOSM based approach improves robustness properties compared with the concurrent techniques, and enhance tracking performance of the quad-rotor UAV exposed to external disturbances.

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CAMETA: Conflict-Aware Multi-Agent Estimated Time of Arrival Prediction for Mobile Robots

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arXiv 2025年

作者： Sejersen, Jonas le Fevre Kayacan, Erdal Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

This study presents the conflict-aware multi-agent estimated time of arrival (CAMETA) framework, a novel approach for predicting the arrival times of multiple agents in unstructured environments without predefined road infrastructure. The CAMETA framework consists of three components: a path planning layer generating potential path suggestions, a multi-agent ETA prediction layer predicting the arrival times for all agents based on the paths, and lastly, a path selection layer that calculates the accumulated cost and selects the best path. The novelty of the CAMETA framework lies in the heterogeneous map representation and the heterogeneous graph neural network architecture. As a result of the proposed novel structure, CAMETA improves the generalization capability compared to the state-of-the-art methods that rely on structured road infrastructure and historical data. The simulation results demonstrate the efficiency and efficacy of the multi-agent ETA prediction layer, with a mean average percentage error improvement of 29.5% and 44% when compared to a traditional path planning method (A∗) which does not consider conflicts. The performance of the CAMETA framework shows significant improvements in terms of robustness to noise and conflicts as well as determining proficient routes compared to state-of-the-art multi-agent path planners. © 2025, CC BY.

关键词： Mobile robots

Statistical-based HRV Feature Importance Evaluation for Arrhythmia and Atrial Fibrillation Classification

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Statistical-based HRV Feature Importance Evaluation for Arrh...

Mediterranean Conference on Embedded Computing (MECO)

作者： Amina Tihak Dusanka Boskovic Department of Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

The paper evaluates statistical significance of the differences in the feature values necessary to differentiate the signals corresponding to cardiac arrhythmia (AR) and atrial fibrillation (AF). The initial set of heart rate variability (HRV) features includes time and frequency domain metrics, as well as geometric metrics based on the Poincare diagram. Due to non-uniformity of the heart rate signal, frequency domain features are calculated using two approaches: the Lomb-Scargle method for spectral analysis for non-uniform signals, and Welch method for uniform signals, but after the signal interpolation and resampling. Selection of an appropriate statistical test was depending on the distribution of feature values. Normal distribution allowed use of parametric ANOVA test and otherwise non-parametric Wilcoxon–Mann–Whitney test were used. The statistical tests indicated statistically significant difference between the two observed groups of signals of interest with respect to the evaluated feature. The success of the classification depends on the well-chosen features according to their importance. In the paper, statistical tests resulted in selection of 27 features out of the initial 51. The proposed set of features could be used for the classification between the AR and AF signals to assist diagnosis of the mentioned heart diseases.

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Workflow as a Service Broker in Cloud Environment: A Systematic Literature Review

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arXiv 2025年

作者： Abrishami, Saeid Zandi, Faridreza Momtaz Nourbakhsh, Alireza Department of Computer Engineering Faculty of Engineering Ferdowsi University of Mashhad Mashhad Iran Departement of Control and Computer Engineering Politecnico di Torino Torino Italy

Cloud computing has emerged as a promising platform for running scientific workflows across various domains. Scientists can take advantage of different cloud service models, such as serverful or serverless, to execute workflows based on their specific requirements, along with diverse pricing models like on-demand, reserved, or spot instances to reduce execution costs. However, the challenge of selecting appropriate resources and pricing models, coupled with the orchestration and scheduling of workflow tasks, creates significant complexity for users. To mitigate this burden, Workflow as a Service (WaaS) brokers have been introduced to facilitate workflow execution. In recent years, numerous studies have been published, either directly or indirectly related to this research area, highlighting the need for a comprehensive and systematic review of WaaS brokers to identify key trends and challenges in this field. In this paper, we conduct a Systematic Literature Review (SLR) on WaaS brokers within cloud environments. The SLR employs a thorough 3-tier strategy (database search, backward snowballing, and forward snowballing) to answer five research questions. A total of 74 high-quality articles, published in 43 prestigious venues, are analyzed to derive a taxonomy based on the architecture of WaaS brokers. The articles are classified and surveyed according to this taxonomy, and future research directions for the design and implementation of WaaS brokers are explored. This study provides valuable insights for researchers and developers, helping them identify major trends and issues in the field of WaaS brokers. © 2025, CC BY.

关键词： Cloud platforms

Automated seizure diagnosis system based on feature extraction and channel selection using EEG signals

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Brain Informatics 2021年第1期8卷 1页

作者： Ein Shoka, Athar A. Alkinani, Monagi H. El-Sherbeny, A.S. El-Sayed, Ayman Dessouky, Mohamed M. Department of Computer Science and Engineering Faculty of Electronic Engineering Menoufia University Menouf Egypt Department of Computer Science and Artificial Intelligence College of Computer Science and Engineering University of Jeddah Jeddah Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf Egypt

Seizure is an abnormal electrical activity of the brain. Neurologists can diagnose the seizure using several methods such as neurological examination, blood tests, computerized tomography (CT), magnetic resonance imaging (MRI) and electroencephalogram (EEG). Medical data, such as the EEG signal, usually includes a number of features and attributes that do not contains important information. This paper proposes an automatic seizure classification system based on extracting the most significant EEG features for seizure diagnosis. The proposed algorithm consists of five steps. The first step is the channel selection to minimize dimensionality by selecting the most affected channels using the variance parameter. The second step is the feature extraction to extract the most relevant features, 11 features, from the selected channels. The third step is to average the 11 features extracted from each channel. Next, the fourth step is the classification of the average features using the classification step. Finally, cross-validation and testing the proposed algorithm by dividing the dataset into training and testing sets. This paper presents a comparative study of seven classifiers. These classifiers were tested using two different methods: random case testing and continuous case testing. In the random case process, the KNN classifier had greater precision, specificity, positive predictability than the other classifiers. Still, the ensemble classifier had a higher sensitivity and a lower miss-rate (2.3%) than the other classifiers. For the continuous case test method, the ensemble classifier had higher metric parameters than the other classifiers. In addition, the ensemble classifier was able to detect all seizure cases without any mistake. © 2021, The Author(s).

关键词： Electroencephalography

Detecting Changes in Functional State: A Comparative Analysis Using Wearable Sensors and a Sensorized Tip

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Detecting Changes in Functional State: A Comparative Analysi...

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Janire Otamendi Asier Zubizarreta Department of Automatic Control and Systems Engineering Faculty of Engineering University of the Basque Country UPV/EHU Bilbao Spain

Gait analysis can provide relevant information about the physical and neurological conditions of individuals. For this reason, several studies have recently been carried out in an attempt to monitor people's gait and automatically detect gait anomalies. Among the various monitoring systems available for gait analysis, wearable sensors are considered the gold standard due to their wide capture range and low cost. However, in the case of people that require assistive devices for walking, some studies have proposed the use of sensorized devices in order to minimize invasiveness. Nevertheless, there is still a lack of comparative works that evaluate the performance of sensorized assistive devices for walking with widely used wearable sensors. Hence, this paper presents a comparison between the performance of accelerometer-based wearable sensors and a sensorized tip developed by the authors to detect gait anomalies. The comparative study has been carried out in a controlled environment with five healthy subjects, in which three different physical states have been simulated. A machine-learning based anomaly detection approach has been implemented based on the data captured by a set of wearable sensors and the sensorized tip, and the overall performance of both monitoring systems has been evaluated. Results show that even if both devices can provide an average accuracy of more than 80% in gait anomaly detection, the sensorized tip provides better performance.

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SIMPLEX: A LEXICAL TEXT SIMPLIFICATION ARCHITECTURE

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arXiv 2023年

作者： Truică, Ciprian-Octavian Andrei-Ionut, Stan Apostol, Elena-Simona Department of Information Technology Uppsala University Uppsala Sweden Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania

Text simplification (TS) is the process of generating easy-to-understand sentences from a given sentence or piece of text. The aim of TS is to reduce both the lexical (which refers to vocabulary complexity and meaning) and syntactic (which refers to the sentence structure) complexity of a given text or sentence without the loss of meaning or nuance. In this paper, we present SIMPLEX, a novel simplification architecture for generating simplified English sentences. To generate a simplified sentence, the proposed architecture uses either word embeddings (i.e., Word2Vec) and perplexity, or sentence transformers (i.e., BERT, RoBERTa, and GPT2) and cosine similarity. The solution is incorporated into a user-friendly and simple-to-use software. We evaluate our system using two metrics, i.e., SARI, and Perplexity Decrease. Experimentally, we observe that the transformer models outperform the other models in terms of the SARI score. However, in terms of Perplexity, the Word-Embeddings-based models achieve the biggest decrease. Thus, the main contributions of this paper are: (1) We propose a new Word Embedding and Transformer based algorithm for text simplification;(2) We design SIMPLEX - a modular novel text simplification system - that can provide a baseline for further research;and (3) We perform an in-depth analysis of our solution and compare our results with two state-of-the-art models, i.e., LightLS [19] and NTS-w2v [44]. We also make the code publicly available online. © 2023, CC BY-NC-ND.

关键词： Embeddings

MISROBÆRTA: TRANSFORMERS VERSUS MISINFORMATION

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arXiv 2023年

作者： Truicǎ, Ciprian-Octavian Apostol, Elena-Simona Department of Information Technology Uppsala University Uppsala Sweden Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania

Misinformation is considered a threat to our democratic values and principles. The spread of such content on social media polarizes society and undermines public discourse by distorting public perceptions and generating social unrest while lacking the rigor of traditional journalism. Transformers and transfer learning proved to be state-of-the-art methods for multiple wellknown natural language processing tasks. In this paper, we propose MisRoBÆRTa, a novel transformer-based deep neural ensemble architecture for misinformation detection. MisRoBÆRTa takes advantage of two state-of-the art transformers, i.e., BART and RoBERTa, to improve the performance of discriminating between real news and different types of fake news. We also benchmarked and evaluated the performances of multiple transformers on the task of misinformation detection. For training and testing, we used a large real-world news articles dataset (i.e., 100,000 records) labeled with 10 classes, thus addressing two shortcomings in the current research: (1) increasing the size of the dataset from small to large, and (2) moving the focus of fake news detection from binary classification to multi-class classification. For this dataset, we manually verified the content of the news articles to ensure that they were correctly labeled. The experimental results show that the accuracy of transformers on the misinformation detection problem was significantly influenced by the method employed to learn the context, dataset size, and vocabulary dimension. We observe empirically that the best accuracy performance among the classification models that use only one transformer is obtained by BART, while DistilRoBERTa obtains the best accuracy in the least amount of time required for fine-tuning and training. However, the proposed MisRoBÆRTa outperforms the other transformer models in the task of misinformation detection. To arrive at this conclusion, we performed ample ablation and sensitivity testing with MisRoBÆRTa on t

关键词： Large dataset

V-EduGram: Voice-based control Technique of Hologram Technology in Education 2

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V-EduGram: Voice-based Control Technique of Hologram Technol...

2nd International Conference on Computing and Information Technology, ICCIT 2022

作者： Abdlfatah, Reem F. Alomaier, Alaa T. Ahmad, Asma S. Elmahal, Doaa M. Ibrahim, Dina M. College of Computer Qassim University Department of Information Technology Buraydah Saudi Arabia Computers and Control Engineering Department Faculty of Engineering Tanta University Egypt

ISBN: (纸本)9781665436052

Education is one of the most critical fields in people's life that largely affects the development and progress of societies, and different methods are used to transfer the knowledge and information to the students, usually under the guidance of some educators. The use of images and visual displaying methods in education is of actual worth;visual means help us learn, explain tough concepts, and attract attention. The visual content is either displayed in a two-dimensional '2D' way which may include some problems, or in a three-dimensional '3D' way that is considered the proper way to display the visual information because it corresponds to human vision. Hologram technology is the one of the technologies that display 3D visual content, usually, depending on the reflections of light or laser beams so that people are able to see the 3D content directly with their eyes. The usage of Hologram technology in education as a tool to display visual information in a three-dimensional way outperforms other used ways and is considered to positively affect educational outcomes. Given the situation in which information is transferred from the teacher to students in education and using Hologram's technology to display visual educational content to them, teachers face a difficulty in the process of controlling the display of content on the Hologram projector while teaching students. This research studies the development of the process of controlling the display of the Holograms on the Hologram projector and gives teachers the ability to control the device using the voice commands. © 2022 IEEE.

关键词： Augmented reality