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Multi-robot Map Exploration Based on Multiple Rapidly-Exploring Randomized Trees

SN computer Science 2024年第1期5卷 31页

作者： Mukhopadhyay, Shayok Umari, Hassan Koirala, Koshish Electrical & Computer Engineering and Computer Science Department University of New Haven 300 Boston Post Rd West Haven 06516 CT United States Department of Electrical Engineering American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates Mechatronics Engineering graduate program American University of Sharjah Sharjah P.O. Box 26666 United Arab Emirates

A map is necessary for tasks such as path planning or localization, which are common to mobile robot navigation. However, a map may be unavailable if the environment in which a robot navigates is unknown. Creating a map requires an exploration algorithm. Such algorithms guide robots to boundaries that separate known portions of a map from the unknown portions. Such boundaries are known as frontiers. There are image processing-based algorithms that detect frontiers. The authors’ previous work uses two, i.e., local and global, rapidly exploring random trees (RRTs) for two-dimensional exploration using a single robot. The present work applies the above to a multiagent system with three robots. A market-based strategy is used to allocate exploration tasks to the robots. Results show that the developed exploration strategy successfully explores a map in a reasonable amount of time compared to image processing-based approaches, and also reduces the map exploration cost. This strategy is readily usable for three-dimensional exploration with drones. It is also shown that the usage of a local frontier detector along with a global frontier detector helps reduce exploration time compared to simply using a global frontier detector alone. As an outline to future work, the paper also shows an extension of the proposed approach towards three-dimensional mapping using a single robot. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： Exploration Mapping Multi-agent Navigation ROS RRT

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A Study on Eye Tracking for Mobile Devices Using Deep Learning 23

A Study on Eye Tracking for Mobile Devices Using Deep Learni...

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24th International Conference on computer Systems and Technologies, CompSysTech 2023

作者： Le Hoang, Nam Porta, Marco Faculty of Information Technology Hanoi University Hanoi Viet Nam Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia Italy

ISBN: (纸本)9798400700477

While eye tracking technology has been around for several years, it has traditionally been implemented on personal computers using specific devices. Eye tracking through smartphones or tablets is much more challenging, because it involves the use of standard cameras and typically significantly fewer computational resources. In this paper, we present a study in which, based on a large dataset of face images acquired via mobile devices, we investigate the influence of some design choices (in particular, related to optimizers, color, and regularization techniques) on a deep learning convolutional architecture. We believe that the results obtained, although preliminary, can provide a useful contribution to a challenging and constantly evolving research field such as that of eye tracking for mobile appliances. © 2023 ACM.

关键词： Eye tracking

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Enhancing Post-Stroke Upper Limb Rehabilitation Through Haptic Feedback in Virtual Reality-Based Gaming

Enhancing Post-Stroke Upper Limb Rehabilitation Through Hapt...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Pillai, Branesh M. Siripala, Napas Sai-Aroon, Kongtup Sivaraman, Dileep Vinjamuri, Ramana Chumnanvej, Sorayouth Suthakorn, Jackrit Mahidol University Faculty of Engineering Department of Biomedical Engineering Thailand University of Maryland Baltimore County Vinjamuri lab in the Department of Computer Science and Electrical Engineering BaltimoreMD21250 United States Mahidol University Neurosurgery Division Faculty of Medicine Ramathibodi Hospital Department of Surgery Bangkok Thailand

ISBN: (纸本)9781665481090

This preliminary study explores developing and implementing upper-limb rehabilitation tools utilizing haptic feedback and 3D spatial recognition analysis in a virtual reality (VR) environment. The effectiveness of upper limb rehabilitation in post-stroke patients was investigated by analyzing the joint and gimbal range of motion (ROM), ROM ratios, and force distribution through various drawing tasks. This study evaluated the impact of different drawing patterns on joint and gimbal ROM, and the force applied during rehabilitation exercises. This study revealed significant variability in ROM across different tasks by combining ROM measurements with force data and employing heat maps for visual representation. These findings emphasize the need for task-specific adjustments to improve rehabilitation outcomes. This study highlights the potential of incorporating advanced technologies, such as VR-based tools with haptic feedback and 3D spatial recognition, to enhance patient engagement and rehabilitation effectiveness. © 2024 IEEE.

关键词： Neuromuscular rehabilitation

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3D Image Generation from X-ray Projections Using Generative Adversarial Networks 23

3D Image Generation from X-ray Projections Using Generative ...

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23rd IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2023

作者： AlShurbaji, Mohammad Dhou, Salam Biomedical Engineering Graduate Program American University of Sharjah Sharjah United Arab Emirates Department of Computer Science and Engineering American University of Sharjah Sharjah United Arab Emirates

ISBN: (纸本)9798350393118

The human brain can effortlessly imagine a 3D image from only 2D images with a little expertise and imagination, but for machines, this is not a trivial task. Because of this, reconstructing 3D images from 2D ones is a hot topic and has many applications. In this paper, we propose a Generative Adversarial Network (GAN)-based approach that generates CT-like images using pairs of orthogonal X-ray projections taken from different angles. In this work, a variety of orthogonal pairs from different angles, ranging from 0 &90 to 60 &150, were considered as input to the 3D image generation model. The effectiveness of the proposed method was assessed by measuring the Structural Similarity Index (SSIM) and Peak Signal-to-Noise Ratio (PSNR), which resulted in values of 0.641 and 29.21, respectively. Furthermore, the model's ability to capture the respiratory motion in the input projections and reflect it in the generated images was also assessed. This work demonstrated the feasibility of generating CT-like images from X-ray projections captured from different orthogonal angles taking into consideration the respiratory motion exhibited in these projections. © 2023 IEEE.

关键词： Generative adversarial networks

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Automatic Cataract and Cholesterol Detection System Based on Recurrent Neural Network (RNN): A Comparison with Convolutional Neural Network (CNN) and Siamese Neural Network (SNN) 1

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19th International Conference of Intelligent Unmanned Systems, ICIUS 2023

作者： Lie, Zener S. Widodo, Jatmiko A. F. Hanesi, Isabel K. P. Moningka, Matthew R. N. Mariana, Y. Astuti, Winda Akmeliawati, Rini Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Product Design program Industrial Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Robotics and Automation Research Group School of Electrical and Mechanical Engineering The University of Adelaide North Terrace Campus Adelaide Australia

ISBN: (数字)9789819765911

ISBN: (纸本)9789819765904

In Indonesia, the majority of blindness cases, approximately 81%, are attributed to cataract. Additionally, 35% of the population has higher cholesterol levels than the standard normal range. The lack of specialized medical equipment, such as the slit-lamp (Ruparelia in Dalhousie Med J 49(1), [1]) bio-microscope, and trained professionals, especially in rural areas, make it difficult to detect these conditions through eye examinations. To address this issue, a supervised machine learning method, the Recurrent Neural Network (RNN), has been utilized to create an iris scanner system that can identify cataract and high cholesterol in a patient. This system will classify eyes into three categories, i.e., cataract, high cholesterol, and normal iris. The computer simulations indicate that this technique is more accurate and requires less training time compared to the existing Convolutional Neural Network (ANN) and Siamese Neural Network (SNN)-based method, while achieving 100% accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Convolutional neural networks

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Digital Twin-Assisted Load-Balanced User Association and AoI-Aware Scheduling in IoT Networks

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IEEE Access 2025年 13卷 95888-95910页

作者： Ahmed Shaharyar Khwaja Nhat Tri Vo Williams-Paul Nwadiugwu Isaac Woungang Alagan Anpalagan Department of Electrical Computer and Biomedical Engineering Toronto Metropolitan University Toronto ON Canada Department of Computer Science Toronto Metropolitan University Toronto ON Canada Department of Electrical and Computer Engineering Lassonde School of Engineering York University Toronto ON Canada School of Engineering and Computation Science Laurentian University Sudbury ON Canada

In this paper, we propose a digital twin (DT) assisted-user device (UD)-base station (BS) association for cellular-supported internet of things (IoT) networks, and scheduling of uplink transmission of these devices to their associated BSs considering the age of information (AoI). Unlike existing work, we consider the scenario of a main base station (MBS) and several smaller base stations (SBSs), which is suitable for 5G and beyond 5G technology. We propose a novel Q-learning-inspired algorithm for simultaneous uplink throughput maximization and load balancing among the different BSs to associate the UDs away from the MBS and distribute them evenly between the SBSs as much as possible. We further take into account the maximum UD-association limit and limited coverage radius of each BS, which makes it closer to a realistic scenario. Another contribution is the proposal and analysis of heuristics-based scheduling of the UDs transmission to their respective BSs with the aim to reduce the overall AoI. Scheduling is important as many applications in the IoT networks require near-time or near-real-time updates for taking timely decisions and maintaining acceptable performance and safety levels. The AoI is an effective metric for the timeliness of information at a receiver, and the computational simplicity of the heuristics-based approach ensures that the scheduling decisions are taken promptly. Simulations results and comparison with several benchmark methods show that the proposed solution can achieve load balancing with a slight degradation in the cumulative maximum achievable throughput achieved in the network. The results also provide valuable insights into the joint performance of the proposed model and the benchmark UD-BS association and scheduling solutions with different packet generation rates for transmission by the UDs.

关键词： Internet of Things Servers 5G mobile communication Throughput Job shop scheduling Resource management Load management Real-time systems 6G mobile communication Industrial Internet of Things

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Boost DC-DC Converter with Non-dissipative Snubber

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IEEJ Transactions on electrical and Electronic engineering 2024年第11期19卷 1858-1878页

作者： Yau, Yeu-Torng Department of Ph.D. Program Prospective Technology of Electrical Engineering and Computer Science National Chin-Yi University of Technology Taichung No.57 Sec. 2 Zhongshan Rd. Taiping Dist Taichung41170 Taiwan

To provide a hold-up time function in DC-DC supplies for cell site stations or data centers, using a boost converter with a bulk output capacitor as a front-end converter stage is a simple and highly cost-effective solution. However, conventional boost converters with a hard-switching operation result in low conversion efficiency and increased electromagnetic interference emissions. In this paper, a boost converter with a new non-dissipative snubber is proposed that only requires two additional diodes, an inductor, and a multilayer ceramic capacitor. The main feature of the proposed snubber is that the components are not located on the main power processing path. This means they only require low ratings, improving cost-effectiveness. A prototype converter is analyzed, realized, and applied to a 300 W redundant DC-DC power supply module for a 5G cell base station. © 2024 The Author(s). IEEJ Transactions on electrical and Electronic engineering published by Institute of electrical Engineers of Japan and Wiley Periodicals LLC. © 2024 The Author(s). IEEJ Transactions on electrical and Electronic engineering published by Institute of electrical Engineers of Japan and Wiley Periodicals LLC.

关键词： Boost converter

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Electrogelated drug-embedded silk/gelatin/rGO degradable electrode for anti-inflammatory applications in brain-implant systems

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Journal of Materials Chemistry B 2024年第5期12卷 1361-1371页

作者： Lin, Zhen-Kai Lin, Jing-Syu Chen, Zih-Huei Cheng, Hung-Wei Huang, Wei-Chen Chen, San-Yuan Department of Materials Science and Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Department of Electrical and Computer Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Graduate Institute of Biomedical Science China Medical University Taichung Taiwan School of Dentistry College of Dental Medicine Kaohsiung Medical University Kaohsiung Taiwan

Implantable electrodes have raised great interest over the last years with the increasing incidence of neurodegenerative disorders. For brain implant devices, some key factors resulting in the formation of glial scars, such as mechanical mismatch and acute injury-induced inflammation, should be considered for material design. Therefore, in this study, a new biocompatible flexible electrode (e-SgG) with arbitrary shapes on a positive electrode was developed via electrogelation by applying a direct electrical voltage on a silk fibroin/gelatin/reduced graphene oxide composite hydrogel. The implantable flexible e-SgG-2 film with 1.23% rGO content showed high Young's modulus (11-150 MPa), which was sufficient for penetration under dried conditions but subsequently became a biomimetic brain tissue with low Young's modulus (50-3200 kPa) after insertion in the brain. At the same time, an anti-inflammatory drug (DEX) incorporated into the e-SgG-2 film can be electrically stimulated to exhibit two-stage release to overcome tissue inflammation during cyclic voltammetry via degradation by applying an AC field. The results of cell response to the SF/gelatin/rGO/DEX composite film showed that the released DEX could interrupt astrocyte growth to reduce the inflammatory response but showed non-toxicity toward neurons, which demonstrated a great potential for the application of the biocompatible and degradable e-SgG-D electrodes in the improvement of nerve tissue repair. © 2024 The Royal Society of Chemistry

关键词： Electrodes

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Implementation of the Simple Algorithm for Space Charge Limited Emission in a 1-D Particle-in-Cell Simulation 24

Implementation of the Simple Algorithm for Space Charge Limi...

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24th International Vacuum Electronics Conference, IVEC 2023

作者： Wang, Guo-Ning Aranganadin, Kaviya Hsu, Hua-Yi Verboncoeur, John P. Lin, Ming-Chieh Hanyang University Multidisciplinary Computational Laboratory Department of Electrical and Biomedical Engineering Seoul04763 Korea Republic of National Taipei University of Technology Department of Mechanical Engineering Taipei10608 Taiwan Michigan State University Department of Electrical and Computer Engineering Michigan48824 United States

ISBN: (纸本)9781665473217

Cathode emission in most vacuum electronic devices (VEDs) operates in a space-charge limited regime where the current density drawn is limited by the self-fields of the space charges. In particle-in-cell (PIC) simulations, the implementation of the space charge limited emission is not trivial and sometimes an over emission or nonphysical effects might be generated. In this paper, we present the implementation of the simple algorithm proposed by Stoltz et al. for space-charge limited emission in 1-D PIC simulations. The algorithm uses the value of the electric field in front of the cathode surface instead of attempting to zero the field at the surface, making the algorithm particularly well suited to the PIC simulations. For demonstration, the 1-D bounded electrostatic PIC code, XPDP1, developed by Plasma Theory and Simulation Group (PTSG), formerly at UC Berkeley, now at Michigan State University is used to simulate a space charge limited diode in which the steady-state limiting current should follow the Child-Langmuir law. After implementing the simple algorithm in the XPDP1 code, the surface electric field is computed accurately by applying the Gauss law to the surface grid and the turn on of the space charge limited emission in the planar diode is studied carefully. The simple algorithm can be further implemented to 2-D or 3-D PIC simulations for modeling VEDs with space charge limited emission. The detailed implementation and simulation results will be presented and discussed. © 2023 IEEE.

关键词： Electric space charge

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An Interdisciplinary Approach for Environmental Sustainability: A New Metric for Land Use Estimation 13

An Interdisciplinary Approach for Environmental Sustainabili...

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13th International Multi-Conference on Complexity, Informatics and Cybernetics, IMCIC 2022

作者： Albanesi, Maria Grazia Department of Electrical Computer and Biomedical Engineering University of Pavia PaviaI-27100 Italy

ISBN: (纸本)9781950492602

This paper describes a new metric for land use estimation based on two indicators: the Anthropentropy Factor, which expresses the impact of anthropic settlements on wild nature, and the Forest Status Quality, which measures quality and extension of the forests according to their ecological components. The novelty of this contribution consists in the combination of the two indicators into a single Smart Land Use Estimator, and in the embedding of a new parameter related to the hydrogeological risk of the territory. This is multidisciplinary study because tools and algorithms of computer Science (image processing) are applied to data and concepts coming from Botany, Hydrology and Geology. For this reason, in the paper, some issues and proposed solutions about the multidisciplinary communication are investigated. The application of this smart indicator is to drive policy makers by suggesting the opportunity or not to build new anthropic settlements for a real sustainable development, by considering both biodiversity preservation and human safety against catastrophic events, such as landslides and floods. The results are presented for a part of the territory in the North of Italy in which the hydrogeologic risk and the impact of human settlements (population density and land use) are particularly high. © 2022 IMCIC 2022 - 13th International Multi-Conference on Complexity, Informatics and Cybernetics, Proceedings. All rights reserved.

关键词： Land use

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