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

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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Machine Learning Enabled Novel Real-Time IoT Targeted DoS/DDoS Cyber Attack Detection System

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computers, Materials & Continua 2024年第9期80卷 3655-3683页

作者： Abdullah Alabdulatif Navod Neranjan Thilakarathne Mohamed Aashiq Department of Cybersecurity College of ComputerQassim UniversityBuraydah51452Saudi Arabia Department of ICT Faculty of TechnologyUniversity of ColomboColombo00700Sri Lanka Department of Computer Science and Engineering Faculty of EngineeringSouth Eastern University of Sri LankaOluvil32360Sri Lanka

The increasing prevalence of Internet of Things(IoT)devices has introduced a new phase of connectivity in recent years and,concurrently,has opened the floodgates for growing cyber *** the myriad of potential attacks,Denial of Service(DoS)attacks and Distributed Denial of Service(DDoS)attacks remain a dominant concern due to their capability to render services inoperable by overwhelming systems with an influx of *** IoT devices often lack the inherent security measures found in more mature computing platforms,the need for robust DoS/DDoS detection systems tailored to IoT is paramount for the sustainable development of every domain that IoT *** this study,we investigate the effectiveness of three machine learning(ML)algorithms:extreme gradient boosting(XGB),multilayer perceptron(MLP)and random forest(RF),for the detection of IoTtargeted DoS/DDoS attacks and three feature engineering methods that have not been used in the existing stateof-the-art,and then employed the best performing algorithm to design a prototype of a novel real-time system towards detection of such DoS/DDoS *** CICIoT2023 dataset was derived from the latest real-world IoT traffic,incorporates both benign and malicious network traffic patterns and after data preprocessing and feature engineering,the data was fed into our models for both training and validation,where findings suggest that while all threemodels exhibit commendable accuracy in detectingDoS/DDoS attacks,the use of particle swarmoptimization(PSO)for feature selection has made great improvements in the performance(accuracy,precsion recall and F1-score of 99.93%for XGB)of the ML models and their execution time(491.023 sceonds for XGB)compared to recursive feature elimination(RFE)and randomforest feature importance(RFI)*** proposed real-time system for DoS/DDoS attack detection entails the implementation of an platform capable of effectively processing and analyzing network traffic in *** inv

关键词： Machine learning Internet of Things(IoT),DoS,DDoS cybersecurity intrusion prevention network security,feature optimization,sustainability

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Exploring Innovation: Artificial Intelligence (AI) in Pharmacy 7

Exploring Innovation: Artificial Intelligence (AI) in Pharma...

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7th International Conference on Inventive Computation Technologies, ICICT 2024

作者： Raymond, David Mankar, Divyani Gudadhe, Amit Faculty of Engineering And Technology Department of Computer Science And Medical Engineering Maharashtra Wardha India Faculty of Engineering And Technology Department of Basic Science And Humanities Maharashtra Wardha India

ISBN: (纸本)9798350359299

Artificial Intelligence (AI) has emerged as a disruptive force in the pharmaceutical industry, driving unprecedented breakthroughs across various domains. This article provides a comprehensive overview of the cutting-edge applications of AI in pharmacy, spanning medication safety, clinical decision support, personalized medicine, and drug discovery. AI is revolutionizing drug development processes, enabling precision pharmacy techniques, and enhancing clinical decision-making through Machine Learning, Deep Learning, and Natural Language Processing. Despite the potential for transformation, challenges such as moral dilemmas and legal restrictions persist. Nevertheless, the integration of AI will revolutionize pharmacy practice, leading to improved patient outcome and ushering in a new era of healthcare. © 2024 IEEE.

关键词： Deep learning

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Document Summarizer: A Machine Learning approach to PDF summarization 4

Document Summarizer: A Machine Learning approach to PDF summ...

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4th International Conference on Evolutionary Computing and Mobile Sustainable Networks, ICECMSN 2024

作者： Peddarapu, Rama Krishna Anogna, Sudagoni Harshini, M.N.S. Sri Sireesha, J. Rathna, K. Guna Department of Computer Science and Engineering Faculty of Computer Sciences and Engineering VNR Vignana Jyothi Institute of Engineering and Technology Telangana Hyderabad India Department of Computer Science and Engineering VNR Vignana Jyothi Institute of Engineering and Technology Telangana Hyderabad India

To address the need for summarizing and extracting information efficiently, this paper highlights the growing challenge posed by the increasing number of PDF files. Reading lengthy documents is a tedious and time-consuming task. To save time and quickly comprehend the key points of a PDF, a PDF summarizer tool has been developed to tackle these issues. In today's professional environments, gathering and managing data from documents is critical. This article introduces an innovative solution called DocSum, which automates the process of summarizing extracted data. Powered by *** Core, the DocSum system allows users to upload PDF documents for processing and receive concise summaries in return. The system features a user-friendly interface that encourages interaction and engagement, utilizing AI and machine learning techniques to streamline document handling. Users can request specific summaries, enabling efficient document management workflows. By empowering users to seamlessly interact with vast amounts of information, DocSum enhances productivity and explores new ways to optimize document management. This solution is ideal for professionals seeking to stay informed and manage data effectively, while also keeping track of advancements in document handling technologies across multiple industries. It is not only helpful for professionals but also helpful for students who need quick revision or examinations, teachers to gain brief knowledge on the concepts. © 2025 The Authors. Published by Elsevier B.V.

关键词： Data handling

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Robust Car-Following control of Connected and Autonomous Vehicles: A Stochastic Model Predictive control Approach

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Zhang, Peiyu Tian, Daxin Zhou, Jianshan Chang, Mai Duan, Xuting Zhao, Dezong Cao, Dongpu Leung, Vicor C.M. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China James Watt School of Engineering University of Glasgow Glasgow U.K Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Computer Science and Software Engineering Shenzhen University Shenzhen China

Vehicle platooning has attracted growing attention for its potential to enhance traffic capacity and road safety. This paper proposes an innovative distributed Stochastic Model Predictive control (SMPC) for a vehicle platoon system to enhance the robustness and safety of the vehicles in uncertain traffic environments. In particular, considering the similarity between the acceleration or deceleration behaviour of neighbouring vehicles and the spring-scale properties, we use a two-mass spring system for the first time to construct an uncertain dynamic model of a formation system. In the presence of uncertain perturbations with known distributional attributes (expectation, variance), we propose an objective function in the form of expectation along with probabilistic chance constraints. Subsequently, a state feedback control mechanism is devised accordingly. Under the cumulative probability distribution function of stochastic perturbations, we theoretically derive a computationally tractable equivalent of the SMPC model. Finally, simulation experiments are designed to validate the control performance of the SMPC platoon controllers, along with an analysis of the stability performance under varying probabilities. The experimental findings demonstrate that the model can be efficiently solved in real-time with appropriately chosen prediction horizon lengths, ensuring robust and safe longitudinal vehicle formation control. IEEE

关键词： Random processes

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Design of a Multi-Stage Ensemble Model for Thyroid Prediction Using Learning Approaches

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Intelligent Automation & Soft Computing 2024年第1期39卷 1-13页

作者： M.L.Maruthi Prasad R.Santhosh Department of Computer Science and Engineering Faculty of EngineeringKarpagam Academy of Higher EducationCoimbatoreTamil NaduIndia

This research concentrates to model an efficient thyroid prediction approach,which is considered a baseline for significant problems faced by the women *** major research problem is the lack of automated model to attain earlier *** existing model fails to give better prediction ***,a novel clinical decision support system is framed to make the proper decision during a time of *** stages are followed in the proposed framework,which plays a substantial role in thyroid *** steps include i)data acquisition,ii)outlier prediction,and iii)multi-stage weight-based ensemble learning process(MS-WEL).The weighted analysis of the base classifier and other classifier models helps bridge the gap encountered in one single classifier *** classifiers aremerged to handle the issues identified in others and intend to enhance the prediction *** proposed model provides superior outcomes and gives good quality prediction *** simulation is done in the MATLAB 2020a environment and establishes a better trade-off than various existing *** model gives a prediction accuracy of 97.28%accuracy compared to other models and shows a better trade than others.

关键词： Thyroid machine learning pre-processing classification prediction rate

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Hybrid lightweight encryption for IoT: integrating chaotic key generators with Feistel and substitution-permutation networks for secure 3DV transmission

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Multimedia Tools and Applications 2025年 1-47页

作者： El-Shafai, Walid Mesrega, Ahmed K. Ahmed, Hossam Eldin H. Elbahnasawy, Nirmeen A. El-Samie, Fathi E. Abd Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia Deptartment of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Computer Science and Engineering Faculty of Electronic Engineering Menoufia University Menouf Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh11671 Saudi Arabia

The Internet of Things (IoT) stands as a revolutionary leap in digital connectivity, envisioning a future network connecting billions of devices, seamlessly. Amidst the myriad benefits, there arises an intricate web of challenges, prominently centered around potential threats and data security implications. Recent cryptography techniques, such as DNA-based cryptography, 3D chaos-based cryptography, and optical cryptography, face challenges including large encryption times, high energy consumption, and suboptimal rather than optimal performance. Particularly, the burden of long encryption cycles strains the energy resources of typical low-power and compact IoT devices. These challenges render the devices vulnerable to unauthorized breaches, despite large storage capacities. The hallmark of the IoT ecosystem, characterized by its low-power compact devices, is the burgeoning volume of data they generate. This escalating data influx, while necessitating expansive storage, remains vulnerable to unauthorized access and breaches. Historically, encryption algorithms, with their multifaceted architectures, have been the bulwark against such intrusions. However, their inherently-complex nature, entailing multiple encryption cycles, strains the limited energy reserves of typical IoT devices. In response to this intricate dilemma, we present a hybrid lightweight encryption strategy. Our algorithm innovatively leverages both one-dimensional (1D) and two-dimensional (2D) chaotic key generators. Furthermore, it amalgamates a classical encryption philosophy, harmonizing the strengths of Feistel and substitution-permutation networks. The centerpiece of our strategy is achieving effective encryption in merely three rounds, tailored expressly for compressed Three-Dimensional Video (3DV) frames, ensuring their unwavering integrity. Our workflow commences with the H.264/MVC compression algorithm, setting the stage for the subsequent encryption phase. Through rigorous MATLAB simulations,

关键词： Image coding

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Digital Twin-Based Automated Fault Diagnosis in Industrial IoT Applications

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computers, Materials & Continua 2023年第4期75卷 183-196页

作者： Samah Alshathri Ezz El-Din Hemdan Walid El-Shafai Amged Sayed Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Science and Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Computer Science Department Security Engineering LabPrince Sultan UniversityRiyadh11586Saudi Arabia Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electrical Energy Engineering College of Engineering&TechnologyArab Academy for Science Technology&Maritime TransportSmart Village CampusEgypt

In recent years, Digital Twin (DT) has gained significant interestfrom academia and industry due to the advanced in information technology,communication systems, Artificial Intelligence (AI), Cloud Computing (CC),and Industrial Internet of Things (IIoT). The main concept of the DT isto provide a comprehensive tangible, and operational explanation of anyelement, asset, or system. However, it is an extremely dynamic taxonomydeveloping in complexity during the life cycle that produces a massive amountof engendered data and information. Likewise, with the development of AI,digital twins can be redefined and could be a crucial approach to aid theInternet of Things (IoT)-based DT applications for transferring the data andvalue onto the Internet with better decision-making. Therefore, this paperintroduces an efficient DT-based fault diagnosis model based on machinelearning (ML) tools. In this framework, the DT model of the machine isconstructed by creating the simulation model. In the proposed framework,the Genetic algorithm (GA) is used for the optimization task to improvethe classification accuracy. Furthermore, we evaluate the proposed faultdiagnosis framework using performance metrics such as precision, accuracy,F-measure, and recall. The proposed framework is comprehensively examinedusing the triplex pump fault diagnosis. The experimental results demonstratedthat the hybrid GA-ML method gives outstanding results compared to MLmethods like LogisticRegression (LR), Na飗e Bayes (NB), and SupportVectorMachine (SVM). The suggested framework achieves the highest accuracyof 95% for the employed hybrid GA-SVM. The proposed framework willeffectively help industrial operators make an appropriate decision concerningthe fault analysis for IIoT applications in the context of Industry 4.0.

关键词： Automated fault diagnosis control system ML AI CC IIoT digital twins genetic algorithm GA-ML technique

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A Decision Support System for Enhancing Transportation Services Using Aspect-Based Sentiment Analysis

A Decision Support System for Enhancing Transportation Servi...

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2024 International Conference on Decision Aid sciences and Applications, DASA 2024

作者： Benaddi, Lamya Ouaddi, Charaf Naimi, Lahbib Souha, Adnane Jakimi, Abdeslam Ouchao, Brahim Moulay Ismail University Software Engineering and Information Systems Engineering Team Faculty of Science and Technology Errachidia Department of Computer Sciences Morocco

ISBN: (纸本)9798350369106

This paper proposes an innovative decision support system based on sentiment analysis, specifically designed for the transportation sector. The system employs an aspect-based sentiment analysis approach, which accurately identifies and classifies customer opinions on key transportation service aspects such as comfort, driver behavior, punctuality, and vehicle condition. By integrating the BERT model, known for its advanced natural language processing capabilities, our system provides an in-depth and reliable analysis of customer sentiments. This analysis enables managers and decision-makers to better understand the strengths and weaknesses of the provided transportation services and to precisely target areas that require improvement. By offering actionable insights, our approach aims to enhance the user experience, improve service quality, and increase overall customer satisfaction. © 2024 IEEE.

关键词： Customer satisfaction

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Enhancing face recognition performance: a comprehensive evaluation of deep learning models and a novel ensemble approach with hyperparameter tuning

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Soft Computing 2024年第20期28卷 12399-12424页

作者： Selvaganesan, Jana Sudharani, B. Shekhar, S. N. Chandra Vaishnavi, K. Priyadarsini, K. Raju, K. Srujan Rao, T. Srinivasa Department of Electronics and Communication Engineering Vel Tech Rangarajan Dr. Sagunthala R & ampD Institute of Science and Technology Avadi Tamil Nadu Chennai600062 India Guntur Dist. Andhra Pradesh Vadlamudi India Department of Electronics and Communication Engineering Sreenidhi Institute of Science and Technology Telangana Hyderabad501301 India Department of Computer Science and Engineering Sona College of Technology Tamil Nadu Salem636005 India Department of Data Science and Business Systems School of Computing Faculty of Engineering and Technology SRM Institute of Science and Technology Tamil Nadu Kattankulathur603203 India Department of Computer Science and Engineering CMR Technical Campus Medchal Telangana Hyderabad501401 India Department of Electronics and Communication Engineering Aditya Engineering College Surampalem533437 India

In response to growing security concerns and the increasing demand for face recognition (FR) technology in various sectors, this research explores the application of deep learning techniques, specifically pre-trained Convolutional Neural Network (CNN) models, in the field of FR. The study harnesses the power of five pre-trained CNN models—DenseNet201, ResNet152V2, MobileNetV2, SeResNeXt, and Xception—for robust feature extraction, followed by SoftMax classification. A novel weighted average ensemble model, meticulously optimized through a grid search technique, is introduced to augment feature extraction and classification efficacy. Emphasizing the significance of robust data pre-processing, encompassing resizing, data augmentation, splitting, and normalization, the research endeavors to fortify the reliability of FR systems. Methodologically, the study systematically investigates hyperparameters across deep learning models, fine-tuning network depth, learning rate, activation functions, and optimization methods. Comprehensive evaluations unfold across diverse datasets to discern the effectiveness of the proposed models. Key contributions of this work encompass the utilization of pre-trained CNN models for feature extraction, extensive evaluation across multiple datasets, the introduction of a weighted average ensemble model, emphasis on robust data pre-processing, systematic hyperparameter tuning, and the utilization of comprehensive evaluation metrics. The results, meticulously analyzed, unveil the superior performance of the proposed method, consistently outshining alternative models across pivotal metrics, including Recall, Precision, F1 Score, Matthews Correlation Coefficient (MCC), and Accuracy. Notably, the proposed method attains an exceptional accuracy of 99.48% on the labeled faces in the wild (LFW) dataset, surpassing erstwhile state-of-the-art benchmarks. This research represents a significant stride in FR technology, furnishing a dependable and accurate

关键词： Convolutional neural networks

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