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9th International Conference on Mathematics and computers in Sciences and Industry, MCSI 2024

作者： Rosca, Sebastian Daniel Leba, Monica Sibisanu, Remus University of Petrosani Department of System Control and Computer Engineering Petrosani Romania

ISBN: (纸本)9798350377224

Human pose estimation and automatic detection is a common task in Human-computer Interaction but especially more capitalized in human-robot interaction inspired from biological form of human anatomy to realize a biomimetic control. In this sense, using human pose estimation it can be realized the whole human body posture estimation using anatomical human joints detection as inputs for specialized algorithms to calculate it based on key points obtained from a person Kinematic tree using regression, generation or part relation as models to estimate the optimal position from video or even from image. In this paper we propose a solution to estimate of 2D human arm posture of a subject using image capture as input for advanced machine learning algorithms to determine the subject joints position used to control in biomimetic manner a simulation of human like robotic arm with six degrees of freedom as a computer-aided model in Matlab-Simulink based on forward kinematics. © 2024 IEEE.

关键词： MATLAB

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Enhancing Automotive Embedded Applications: A Comprehensive Evaluation of control Flow Checking Methods

Enhancing Automotive Embedded Applications: A Comprehensive ...

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2024 IEEE International Conference on Design, Test and Technology of Integrated Systems, DTTIS 2024

作者： Solouki, Mohammadreza Amel Sini, Jacopo Violante, Massimo Politecnico di Torino Department of Control and Computer Engineering Turin Italy

ISBN: (纸本)9798350363128

Mitigating the risks posed by Random Hardware Failures (RHFs) is crucial to prevent data corruption and control Flow Errors (CFEs) in embedded systems. This paper addresses these concerns through the application of Software-Implemented Hardware Fault Tolerance (SIHFT) methods, emphasizing compatibility with high-level programming languages such as C. Current SIHFT methods, often implemented in low-level Assembly, present challenges in terms of overhead to code size and real-time execution. Our proposed approach focuses on pre-compilation application of SIHFT methods, specifically control Flow Checking (CFC), to identify CFEs within C-language-based code. We conducted a comparative analysis of two established software-based CFE detection methods in C, seamlessly integrating CFC methods into the application behavioral model. Our methodology ensures ISO26262 compliance, crucial for the automotive sector, offering a software-only strategy that aligns with safety and cost considerations. © 2024 IEEE.

关键词： C (programming language)

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CPL-SLAM: Centralized Collaborative Multi-Robot Visual-Inertial SLAM Using Point-and-Line Features

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IEEE Internet of Things Journal 2025年第12期12卷 21866-21875页

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center The Ministry of Education for Intelligent Control System and Intelligent Equipment Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering China Carleton University Canada

Traditional visual-inertial SLAM (Simultaneous Localization and Mapping) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intra-robot and inter-robot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

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REAL-TIME PSYCHOACOUSTIC FREQUENCY MASKING COMPENSATION FOR AUDIO SIGNALS WITH OVERLAPPING SPECTRA 21

REAL-TIME PSYCHOACOUSTIC FREQUENCY MASKING COMPENSATION FOR ...

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21st Sound and Music Computing Conference, SMC 2024

作者： Presti, Giorgio Degiorgi, Nicola Fresia, Amedeo Servetti, Antonio Department of Computer Science University of Milan Italy Control and Computer Engineering Department Politecnico di Torino Italy

ISBN: (纸本)9789893520758

This work presents a prototype for the automatic and real-time psychoacoustic frequency masking effect compensation. This tool is intended to handle audio signals with overlapping spectra coming from two different mono or stereo sources in order to emphasise those frequencies of a main source that the second one masks. The goal is achieved using a dynamic equaliser controlled by a function of the differences of the input spectra psychoacoustic models. The tool has been prototyped as a standard Virtual Studio Technology (VST3) plugin and its effectiveness has been tested with a user study carried out in the context of music production. © 2024. This is an open-access article distributed under the terms of the Creative Commons Attribution 3.0 Unported License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original.

关键词： Psychoacoustic

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Conversational AI for Framed Autonomy in AI-augmented Business Process Management 22

Conversational AI for Framed Autonomy in AI-augmented Busine...

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Best Dissertation Award, Doctoral Consortium, and Demonstration and Resources Forum at 22nd International Conference on Business Process Management, BPM-D 2024

作者： Casciani, Angelo Department of Computer Control and Management Engineering Sapienza University of Rome Italy

AI-augmented Business Process Management Systems (ABPMSs) represent an emerging category of process-aware information systems driven by AI technology. These systems autonomously manage the execution flow of business processes (BPs) within predefined frames, encompassing procedural and declarative specifications, which may sometimes conflict. Despite operating autonomously within these boundaries, ABPMSs require dynamic conversations with human agents. These conversations not only respond to user queries but also initiate discussions to inform them of BP progression and provide recommendations for performance improvement. This research proposal aims to leverage Conversational AI to support the ABPMS’s framed autonomy, functioning as a Decision Support System (DSS). This involves explaining system’s choices and suggesting actions when constraints are violated. This technique enables intelligent, context-aware interactions with ABPMSs, fostering user trust. Our findings indicate that Conversational AI has the potential to significantly enhance the interpretability and usability of ABPMSs, thereby facilitating improved decision-making and process optimization. © 2024 Copyright for this paper by its authors.

关键词： Chatbots

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A Task-Oriented Hybrid Cloud Architecture with Deep Cognition Mechanism for Intelligent Space

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computers, Materials & Continua 2023年第8期76卷 1385-1408页

作者： Yongcheng Cui Guohui Tian Xiaochun Cheng School of Control Science and Engineering Shandong UniversityJinanChina Computer Science Department Swansea UniversityWalesUK

Intelligent Space(IS)is widely regarded as a promising paradigm for improving quality of life through using service task *** the field matures,various state-of-the-art IS architectures have been *** of the IS architectures designed for service robots face the problems of fixedfunction modules and low scalability when performing service *** this end,we propose a hybrid cloud service robot architecture based on a Service-Oriented Architecture(SOA).Specifically,we first use the distributed deployment of functional modules to solve the problem of high computing resource ***,the Socket communication interface layer is designed to improve the calling efficiency of the function ***,the private cloud service knowledge base and the dataset for the home environment are used to improve the robustness and success rate of the robot when performing ***,we design and deploy an interactive system based on Browser/Server(B/S)architecture,which aims to display the status of the robot in real-time as well as to expand and call the robot *** system is integrated into the private cloud framework,which provides a feasible solution for improving the quality of ***,it also fully reveals how to actively discover and provide the robot service mechanism of service tasks in the right *** results of extensive experiments show that our cloud system provides sufficient prior knowledge that can assist the robot in completing service *** is an efficient way to transmit data and reduce the computational burden on the *** using our cloud detection module,the robot system can save approximately 25% of the averageCPUusage and reduce the average detection time by 0.1 s compared to the locally deployed system,demonstrating the reliability and practicality of our proposed architecture.

关键词： Service robot intelligent space cloud robot interactive robot system robot cloud service framework

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Unknown Input Observer Design for a Class of Semilinear Hyperbolic Systems with Dynamic Boundary Conditions

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IEEE Transactions on Automatic control 2023年第9期68卷 5721-5728页

作者： Cristofaro, Andrea Ferrante, Francesco Sapienza University of Rome Department of Computer Control and Management Engineering Rome00185 Italy University of Perugia Department of Engineering Perugia06125 Italy

The problem of unknown input observer design is considered for coupled PDE/ODE systems subject to incremental sector bounded nonlinearities and unknown boundary inputs. Assuming available measurements at the boundary of the distributed domain, the synthesis of the unknown input observer is based on Lyapunov methods and recast in terms of some matrix inequalities. Numerical simulations support and confirm the theoretical findings, illustrating the robust estimation performances of the proposed nonlinear unknown input observer. © 1963-2012 IEEE.

关键词： Linear matrix inequalities

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Distortion Evaluation of EMP Sensors Using Associated-Hermite Functions

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computers, Materials & Continua 2023年第1期74卷 1093-1105页

作者： Rupo Ma Siping Gao College of Command and Control Engineering Army Engineering UniversityNanjing210007China Department of Computer Information and Cyber Security Jiangsu Police InstituteNanjing210031China Department of Electrical and Computer Engineering National University of Singapore119260Singapore

Electromagnetic pulse(EMP)is a kind of transient electromagnetic phenomenon with short rise time of the leading edge and wide spectrum,which usually disrupts communications and damages electronic equipment and *** is challenging for an EMP sensor to measure a wideband electromagnetic pulse without distortion for the whole ***,analyzing the distortion of EMP measurement is crucial to evaluating the sensor distortion characteristics and correcting the measurement *** fidelity is usually employed to evaluate the distortion of an ***,this metric depends on specific signal waveforms,thus is unsuitable for evaluating and analyzing the distortion of EMP *** this paper,an associated-hermite-function based distortion analysis method including system transfer matrices and distortion rates is proposed,which is general and independent from individual *** system transfer matrix and distortion rate can be straightforwardly calculated by the signal orthogonal transformation coefficients using associated-hermite *** of a sensor *** is then visualized via the system transfer matrix,which is convenient in quantitative analysis of the *** of a current probe,a coaxial pulse voltage probe and a B-field sensor were performed,based on which the feasibility and effectiveness of the proposed distortion analysis method is successfully verified.

关键词： Electromagnetic pulse associated-hermite functions system transfer matrix distortion rate

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Social NSTransformers: Low-Quality Pedestrian Trajectory Prediction

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第11期5卷 5575-5588页

作者： Jiang, Zihan Ma, Yiqun Shi, Bingyu Lu, Xin Xing, Jian Goncalves, Nuno Jin, Bo Suzhou215000 China Northeast Forestry University College of Computer and Control Engineering Harbin150000 China University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Coimbra3030-290 Portugal

This article introduces a novel model for low-quality pedestrian trajectory prediction, the social nonstationary transformers (NSTransformers), that merges the strengths of NSTransformers and spatiotemporal graph transformer (STAR). The model can capture social interaction cues among pedestrians and integrate features across spatial and temporal dimensions to enhance the precision and resilience of trajectory predictions. We also propose an enhanced loss function that combines diversity loss with logarithmic root mean squared error (log-RMSE) to guarantee the reasonableness and diversity of the generated trajectories. This design adapts well to complex pedestrian interaction scenarios, thereby improving the reliability and accuracy of trajectory prediction. Furthermore, we integrate a generative adversarial network (GAN) to model the randomness inherent in pedestrian trajectories. Compared to the conventional standard Gaussian distribution, our GAN approach better simulates the intricate distribution found in pedestrian trajectories, enhancing the trajectory prediction's diversity and robustness. Experimental results reveal that our model outperforms several state-of-the-art methods. This research opens the avenue for future exploration in low-quality pedestrian trajectory prediction. © 2024 IEEE.

关键词： Stars

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Green hydrogen as a sustainable operations strategy: A socio-economic perspective

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Sustainable Operations and computers 2025年第1期6卷 1-14页

作者： Bonesso, Francesco D'Adamo, Idiano Gastaldi, Massimo Giannini, Marco Sapienza University of Rome Rome Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Industrial and Information Engineering and Economics University of L'Aquila L'Aquila Italy

Hydrogen is an energy carrier that can support the development of sustainable and flexible energy systems. However, decarbonization can occur when green sources are used for energy production and appropriate water use is manifested. This work aims to propose a socio-economic analysis of hydrogen production from an integrated wind and electrolysis plant in southern Italy. The estimated production amounts to about 1.8 million kg and the LCOH is calculated to be 3.60 €/kg in the base scenario. Analyses of the alternative scenarios allow us to observe that with a high probability the value ranges between 3.20–4.00 €/kg and that the capacity factor is the factor that most affects the economic results. Social analysis, conducted through an online survey, shows a strong knowledge gap as only 27.5 % claim to know the difference between green and grey hydrogen. There is a slight propensity to install systems near their homes, but this tends to increase due to increased knowledge on the topic. Respondents state sustainable behaviours, and this study suggests that these aspects should also be transformed into the energy choices that are implemented every day. The study suggests information to policy-makers, businesses and citizens as it outlines that green hydrogen is an operations strategy that moves toward sustainable development. © 2024 The Author(s)

关键词： Green development

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