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Inverse kinematics solution for a six-degree-of-freedom upper limb rehabilitation robot using deep learning models

Neural computing and Applications 2025年 1-19页

作者： Shah, Muhammad Faizan Khan, Naveed Ahmad Jamwal, Prashant K. Chetty, Girija Goecke, Roland Hussain, Shahid School of Information Technology & Systems University of Canberra Canberra Australia Department of Electrical and Computer Engineering Nazarbayev University Astana Kazakhstan School of Systems and Computing University of New South Wales Canberra Australia

The inverse kinematics problem in serially manipulated upper limb rehabilitation robots implies the usage of the end-effector position to obtain the joint rotation angles. In contrast to the forward kinematics, there are no systematic approaches for solving the inverse kinematics problem. Furthermore, for some morphology of the upper limb rehabilitation robots, the inverse kinematics problem is particularly challenging to solve. Conventional methods to solve the inverse kinematics problem reported in the literature are computationally expensive. In the present work, we propose a deep learning-based model to acquire the joint angles for a given end-effector position. The proposed approach exhibits high efficacy in determining the joint angles for various target positions and can accurately predict the end-effector positions once trained, improving the ability of the upper limb rehabilitation robot to adapt to varying patient needs. Due to its improved capability and effectiveness to track positions, the proposed algorithm lays the foundation for the development of efficient controllers in future. © The Author(s) 2025.

关键词： Inverse kinematics

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Classification of human-written and AI-generated sentences using a hybrid CNN-GRU model optimized by the spotted hyena algorithm

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Alexandria engineering Journal 2025年 126卷 116-130页

作者： Ragab, Mahmoud Ashary, Ehab Bahaudien Kateb, Faris Hakeem, Abeer Mosli, Rayan Albogami, Nasser N. Nooh, Sameer Information Technology Department Faculty of Computing and Information Technology King Abdulaziz University Jeddah21589 Saudi Arabia Electrical and Computer Engineering Department Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia Information Systems Department Faculty of Computing and Information Technology King Abdulaziz University Jeddah21589 Saudi Arabia

The rapid advancement of artificial intelligence (AI) in generating human-like text poses significant challenges in distinguishing between human-written and AI-generated content. Recent advancements in natural language generation have significantly enhanced the quality and variety of AI-generated text, making it almost indistinguishable from human-written content. ChatGPT, a popular AI model, belongs to the generative pre-trained transformer family. While human content is created with a clear intent to convey meaning, AI-generated text aims to replicate human-like language. Classifying human-written and AI-generated sentences is crucial for addressing issues like fake news, plagiarism, and spamming. AI text often follows repetitive patterns, while human writing is more creative and original, making detection significant for combating misinformation. Therefore, this study proposes to classify human-written and AI-generated sentences using a hybrid CNN-GRU model optimized by the Spotted Hyena Algorithm (CHWAIG-DLSHO) approach. The approach involves preprocessing text data through tokenization, lemmatization, and data splitting, followed by word embedding using Latent Dirichlet Allocation (LDA). A hybrid convolutional neural network (CNN) and gated recurrent unit (GRU) model is employed for sentence classification. The spotted hyena optimizer (SHO) model is utilized to fine-tune the hyperparameters of the CNN-GRU model, enhancing its performance. The analysis of the CHWAIG-DLSHO method takes place utilizing AI vs. human text dataset. The performance validation of the CHWAIG-DLSHO method portrayed a superior accuracy value of 99.17 % over existing techniques. © 2025 The Authors

关键词： Convolutional neural networks

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Performance *** Comparative Analysis of Multimodal Bilinear Pooling Fusion Approaches for Deep Learning-Based Visual Arabic-Question Answering systems

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Computer Modeling in engineering & Sciences 2025年第4期143卷 373-411页

作者： Sarah M.Kamel Mai A.Fadel Lamiaa Elrefaei Shimaa I.Hassan Electrical Engineering Department Faculty of Engineering at ShoubraBenha UniversityCairo11629Egypt Computer Science Department Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21589Saudi Arabia Department of Computer and Systems Engineering Faculty of Engineering and TechnologyBadr University in Cairo(BUC)Cairo11829Egypt Communication Systems Engineering Department Faculty of EngineeringBenha National UniversityObour11846QalyubiaEgypt

Visual question answering(VQA)is a multimodal task,involving a deep understanding of the image scene and the question’s meaning and capturing the relevant correlations between both modalities to infer the appropriate *** this paper,we propose a VQA system intended to answer yes/no questions about real-world images,in *** support a robust VQA system,we work in two directions:(1)Using deep neural networks to semantically represent the given image and question in a fine-grainedmanner,namely ResNet-152 and Gated Recurrent Units(GRU).(2)Studying the role of the utilizedmultimodal bilinear pooling fusion technique in the *** the model complexity and the overall model *** fusion techniques could significantly increase the model complexity,which seriously limits their applicability for VQA *** far,there is no evidence of how efficient these multimodal bilinear pooling fusion techniques are for VQA systems dedicated to yes/no ***,a comparative analysis is conducted between eight bilinear pooling fusion techniques,in terms of their ability to reduce themodel complexity and improve themodel performance in this case of VQA *** indicate that these multimodal bilinear pooling fusion techniques have improved the VQA model’s performance,until reaching the best performance of 89.25%.Further,experiments have proven that the number of answers in the developed VQA system is a critical factor that *** the effectiveness of these multimodal bilinear pooling techniques in achieving their main objective of reducing the model *** Multimodal Local Perception Bilinear Pooling(MLPB)technique has shown the best balance between the model complexity and its performance,for VQA systems designed to answer yes/no questions.

关键词： Arabic-VQA deep learning-based VQA deep multimodal information fusion multimodal representation learning VQA of yes/no questions VQA model complexity VQA model performance performance-complexity trade-off

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Sobol Sequence Optimization for Hardware-Efficient Vector Symbolic Architectures

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IEEE Transactions on Computer-Aided Design of Integrated Circuits and systems 2025年第3期44卷 937-950页

作者： Aygun, Sercan Najafi, Hassan University of Louisiana at Lafayette School of Computing and Informatics LafayetteLA70503 United States Case Western Reserve University Electrical Computer and Systems Engineering Department ClevelandOH44106 United States

Hyperdimensional computing (HDC) is an emerging computing paradigm with significant promise for efficient and robust learning. In HDC, objects are encoded with high-dimensional vector symbolic sequences called hypervectors. The quality of hypervectors, defined by their distribution and independence, directly impacts the performance of HDC systems. Despite a large body of work on the processing parts of HDC systems, little to no attention has been paid to data encoding and the quality of hypervectors. Most prior studies have generated hypervectors using inherent random functions, such as MATLAB’s or Python’s random function. This work introduces an optimization technique for generating hypervectors by employing quasi-random sequences. These sequences have recently demonstrated their effectiveness in achieving accurate and low-discrepancy data encoding in stochastic computing systems. The study outlines the optimization steps for utilizing Sobol sequences to produce high-quality hypervectors in HDC systems. An optimization algorithm is proposed to select the most suitable Sobol sequences via indexes for generating minimally correlated hypervectors, particularly in applications related to symbol-oriented architectures. The performance of the proposed technique is evaluated in comparison to two traditional approaches of generating hypervectors based on linear-feedback shift registers and MATLAB random functions. The evaluation is conducted for three applications: 1) language;2) headline;and 3) medical image classification. Our experimental results demonstrate accuracy improvements of up to 10.79%, depending on the vector size. Additionally, the proposed encoding hardware exhibits reduced energy consumption and a superior area-delay product. © 2024 IEEE.

关键词： Stochastic systems

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Psychological Impact of Internet Blackouts: A Case Study With Machine Learning-Based Stress Analysis

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IEEE Access 2025年 13卷 83505-83527页

作者： Islam, Mohammad Ariful Islam, Tahidul Hossain, Gahangir Mofazzal Hossain, M. The University of Melbourne Department of Computing and Information Systems MelbourneVIC3010 Australia Bangladesh University of Engineering and Technology Department of Computer Science and Engineering Dhaka1000 Bangladesh University of North Texas Department of Data Science DentonTX76205 United States Southeast University Department of Electrical and Electronic Engineering Dhaka1208 Bangladesh

Access to the internet has become a vital part of modern life, especially for communication and essential services. However, during politically sensitive times, internet blackouts can disrupt daily routines, leading to significant psychological impacts. This study explores the mental health effects of the internet shutdown imposed during the Bangladesh Quota Movement in July 2024, when the government cut off access to control information flow. The blackout hindered communication, financial transactions, and critical services, amplifying stress, feelings of isolation, and emotional distress. A survey of 2,085 participants was conducted to assess the behavioral, emotional, and psychological consequences, particularly in academic, work, and social settings. Stress levels among respondents varied from minimal to extreme, reflecting widespread mental distress. To classify these stress levels, machine learning models;Decision Tree (DT), Random Forest (RF), Bernoulli Naive Bayes (BNB), Logistic Regression (LR), eXtreme Gradient Boosting (XGBoost), and Support Vector Machine (SVM) were applied. The SVM model outperformed others, achieving high precision (99.33%), recall (99.00%), F1-score (99.33%), and accuracy (99.49%). This study underscores the urgent need for mental health support during such crises, particularly in low- and middle-income countries like Bangladesh, where mental health care is often neglected. These findings are aligned with Sustainable Development Goal (SDG 3), "Good Health and Well-Being," stressing the importance of mental health interventions in fostering resilience, well-being, and social stability during crises. © 2013 IEEE.

关键词： Support vector machines

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Edge Intelligence for Wildlife Conservation: Real-Time Hornbill Call Classification Using TinyML 2nd

Edge Intelligence for Wildlife Conservation: Real-Time Hornb...

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2nd International Conference on Intelligent Manufacturing and Robotics, ICIMR 2024

作者： Hing, Kong Ka Behjati, Mehran Saleh, Vala Meng, Yap Kian Majeed, Anwar P. P. Abdul Zheng, Yufan Department of Computing and Information Systems School of Engineering and Technology Sunway University Petaling Jaya47500 Malaysia Department of Computing and Information Systems School of Engineering and Technology Sunway University Petaling Jaya47500 Malaysia Department of Electrical Engineering Shiraz University of Technology Shiraz Iran Suzhou Taicang215400 China

ISBN: (纸本)9789819639489

Hornbills, an iconic species of Malaysia's biodiversity, face threats from habitat loss, poaching, and environmental changes, necessitating accurate and real-time population monitoring that is traditionally challenging and resource intensive. The emergence of Tiny Machine Learning (TinyML) offers a chance to transform wildlife monitoring by enabling efficient, real-time data analysis directly on edge devices. Addressing the challenge of wildlife conservation, this research paper explores the pivotal role of machine learning, specifically TinyML, in the classification and monitoring of hornbill calls in Malaysia. Leveraging audio data from the Xeno-canto database, the study aims to develop a speech recognition system capable of identifying and classifying hornbill vocalizations. The proposed methodology involves preprocessing the audio data, extracting features using Mel-Frequency Energy (MFE), and deploying the model on an Arduino Nano 33 BLE, which is adept at edge computing. The research encompasses foundational work, including a comprehensive introduction, literature review, and methodology. The model is trained using Edge Impulse and validated through real-world tests, achieving high accuracy in hornbill species identification. The project underscores the potential of TinyML for environmental monitoring and its broader application in ecological conservation efforts, contributing to both the field of TinyML and wildlife conservation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Environmental monitoring

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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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Robust Authentication: Leveraging Hardware Fingerprints and AI to Enhance Security Against Spoofing

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IEEE Access 2025年 13卷 86912-86926页

作者： Nimmy, K. Jain, Kurunandan Sachin, S.M. Abekaesh, P.A. Venkitasubramaniam, Parv Amrita Vishwa Vidyapeetham Amrita School of Computing Department of Computer Science and Engineering Amritapuri India Amrita Vishwa Vidyapeetham Center for Cybersecurity Systems and Networks Amritapuri India Lehigh University Department of Electrical & Computer Engineering United States

Fingerprint authentication blends biometric precision with user convenience, leveraging unique ridge patterns for fast, reliable, and tamper-resistant identity verification. However, it remains vulnerable to spoofing attacks, where adversaries create synthetic fingerprints using materials like gelatin. To mitigate this, multi-factor authentication (MFA) enhances security by verifying both the fingerprint and the user’s device, restricting access to authorized hardware and complicating attacks. Although Photo Response Non-Uniformity (PRNU) has been explored for device authentication, its reliability diminishes under varying lighting conditions. To address this, we propose an AI-driven approach to generate robust hardware fingerprints from fingerprint scanners, enabling high-accuracy device identification. Our method, trained on 2,000 fingerprint images from 10 scanners, achieves an impressive 98% accuracy in identifying the source scanner. By integrating fingerprint biometrics, hardware fingerprints, and passwords, our novel MFA protocol significantly enhances security against spoofing and forgery attacks. Through security analysis, we demonstrate its effectiveness in preventing unauthorized access. Finally, we validate our authentication framework using an AI-powered binary classifier model, showcasing its practicality for real-world security applications. © 2013 IEEE.

关键词： AI-based classification hardware fingerprint multifactor authentication (MFA) mutual authentication protocol photo-response non-uniformity (PRNU)

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Cost-Optimized Task Offloading for Dependent Applications in Collaborative Edge and Cloud computing

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IEEE Internet of Things Journal 2025年第9期12卷 12975-12988页

作者： Yuan, Haitao Hu, Qinglong Wang, Shen Bi, Jing Buyya, Rajkumar Lu, Jinhu Yang, Jinhong Zhang, Jia Zhou, MengChu Beihang University School of Automation Science and Electrical Engineering Beijing100191 China City University of Hong Kong Department of Computer Science Kowloon Tong Hong Kong Beijing University of Technology School of Software Engineering Faculty of Information Technology Beijing100124 China Laboratory School of Computing and Information Systems MelbourneVIC3010 Australia CSSC Systems Engineering Research Institute Beijing100036 China Southern Methodist University Lyle School of Engineering Department of Computer Science DallasTX75205 United States New Jersey Institute of Technology Department of Electrical and Computer Engineering NewarkNJ07102 United States

A collaborative system that includes mobile devices (MDs), edge nodes (ENs), and the cloud is needed where ENs at the network edge can run offloaded tasks of MDs with limited resources and energy for timely processing for latency-sensitive applications. Unlike existing studies, we formulate a total cost minimization problem for the system for applications, which can be divided into several interdependent subtasks. Each subtask can be executed in MDs, ENs, and the cloud. This work formulates a mixed-integer nonlinear program to minimize the total system cost. To address it, a novel meta-heuristic optimization algorithm called Genetic Simulated-annealing-based Particle swarm optimization with Auto-Encoder (GSPAE) is proposed, which innovatively combines feature extraction of deep learning and global search of meta-heuristic optimization. Genetic operations provide diverse solutions, the Metropolis acceptance of annealing offers a robust global search, and autoencoders (AEs) extract distribution characteristics of particles toward high-quality regions for fast convergence. Thus, GSPAE optimizes the associations between ENs and MDs and the scheduling of subtasks among MDs, ENs, and the cloud. Experiments with large-scale Google cluster datasets show that compared to state-of-the-art benchmark methods, GSPAE reduces the total cost by at least 17% while strictly meeting limits of application latency, available energy, computing, and communication resources of ENs and MDs. © 2014 IEEE.

关键词： Mobile edge computing

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Enhancing single-lead electrocardiogram arrhythmia detection with empirical mode decomposition

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Neural computing and Applications 2025年 1-23页

作者： Issa, Mohamed F. Yousry, Ahmed Tuboly, Gergely Wang, Zeyu Zoltan, Juhasz Selim, Mazen M. AbuEl-Atta, Ahmed H. Department of Scientific Computing Faculty of Computers and Artificial Intelligence Benha University Benha13511 Egypt Department of Computer Science Faculty of Computers and Artificial Intelligence Benha University Benha13511 Egypt Department of Electrical Engineering and Information Systems University of Pannonia Veszprem8200 Hungary Department of Mechatronics Delta University for Science and Technology Gamasa35712 Egypt

Cardiac arrhythmias pose a significant challenge to health care, requiring accurate and reliable detection methods to enable early diagnosis and treatment. However, traditional ECG beat classification methods often lack robustness and fail to generalize effectively to diverse clinical scenarios, particularly when using single-lead-I recordings, which are less studied compared to lead II. To address this gap, this paper proposes a novel method that combines deep learning and empirical mode decomposition (EMD) for arrhythmia detection using single-lead-I ECG recordings obtained with electrodes on each hand. The hybrid model comprises 149 layers of one-dimensional convolution, max pooling, and residual blocks. By leveraging EMD, it classifies ECG beats into normal beats, premature ventricular contractions, and atrial premature beats with high sensitivity (99.86%, 99.72%, and 99.84%, respectively) using the first four intrinsic mode functions (IMFs). The proposed method is applicable in clinical and out-of-hospital monitoring scenarios, and an accompanying web application provides real-time analysis and diagnostic results. This approach addresses a critical gap in lead-I ECG analysis, enhancing diagnostic precision and expanding the scope of ECG applications in health care. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Empirical mode decomposition

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