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Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 47-63页

作者： Yongliang Yang Zihao Ding Rui Wang Hamidreza Modares Donald C.Wunsch Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation&Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China School of Automation Beijng Institute TechnologyBeijing 100081China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA Department of Electrical&Computer Engineering Missouri University of Science&TechnologyRollaMO 65401 USA

In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.

关键词： Adaptive impedance control data-driven method human-robot interaction(HRI) reinforcement learning velocity-free

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Indirect Website Evaluation: Currently Available Tools 8

Indirect Website Evaluation: Currently Available Tools

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8th International Conference on Web Research, ICWR 2022

作者： Saeidnia, Hamidreza Kozak, Marcin Saeidnia, Sara Tarbiat Modars University Department of Knowledge and Information Science Tehran Iran University of Information Technology and Management Department of Media Journalism and Social Communication Rzeszow Poland Payam Noor University Department of Computer Engineering Ilam Iran

ISBN: (纸本)9781665466264

For most institutions, the World Wide Web has been the main source of information in recent years. Evaluation of a website reveals the overall and actual performance of that website. Identifying a website's strengths and weaknesses is significantly important to any institution. Therefore, in this study, we seek the answer to the question 'When evaluating a website, what kind of questionnaires can be used?' The purpose of this article is to give an overview of different questionnaires for the evaluation of web pages. In addition, it explains how these questionnaires can be used. To do this, we used a simple review of the internet to find questionnaires that evaluate the quality of websites. © 2022 IEEE.

关键词： Websites

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Secure and efficient sensitive info-hiding for data sharing via daces method in cloud 3rd

Secure and efficient sensitive info-hiding for data sharing ...

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3rd International Conference on Big-Data and Cloud Computing, ICBDCC 2019

作者： Raj, R. Joshua Samuel Praise, J. Jeya Prakash, M. Viju Silva, A. Sam Department of Information Science and Engineering CMR Institute of Technology VTU BengaluruKarnataka India Department of Computer Science and Engineering Rajas Engineering College VadakkangulamTamil Nadu India Department of Computer Science College of Science Knowledge University Kurdistan Region Erbil Iraq

ISBN: (纸本)9789811552847

Cloud computing has been developed very quickly within the past few years. With public cloud storage services, users can store remotely to servers in cloud and also recognize the sharing of data with other users. The public cloud servers cannot be completely trusted by users and cannot manage records kept on cloud like local storage devices. However, within cloud storage systems, stored data would possibly contain sensitive info which should not be visible to other users while sharing record in cloud. This becomes a challenge to realize secure and efficient information sharing within cloud. However, existing cryptographic mechanisms do not protect shared sensitive data which are typically protected using a low-entropy password. To tackle this, Division and Auditing of information in Cloud for Efficiency and Security (DACES) is recommended in order to treat the above issues for public cloud storage. In DACES: (i) Erasure code is applied to divide a single record into blocks and distributed them to different cloud servers. (ii) Privacy of data owner and data sharing with sensitive info-hiding is achieved by secure data integrity auditing scheme. (iii) Identity-based access management is implemented to recognize that only authorized users will access the sensitive information. Furthermore, the proposed method is secure and efficient for information sharing in cloud environment. At last, its application is in electronic health (E-health) record. © Springer Nature Singapore Pte Ltd 2021.

关键词： Cloud storage

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Enhancing The Attractiveness of Coloring Books Using Live Texturing Augmented Reality

Enhancing The Attractiveness of Coloring Books Using Live Te...

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Informatics engineering, science & Technology (INCITEST), International Conference on

作者： Hanhan Maulana Jajang Saeful Anshor Hideaki Kanai Department of Informatics Engineering and Computer Science Universitas Komputer Indonesia Bandung Indonesia The School of Knowledge Science Japan Andvanced Institute of Technology and Science Ishikawa Japan

This study aims to build live texturing augmented reality to enhance the attractiveness of coloring books. This research has four main stages, namely data gathering, object preparations, software development and evaluations. This study uses UNITY 3D in building a Live Texturing Augmented Reality System. The AR method used is the Marker method. Users can color the marker. The 3D object will follow the color given to the marker in real time. This system is expected to increase children's attraction to coloring. It is hoped that children's understanding of color can also be improved. Furthermore, this system is expected to help children in deciding on color selection so that children's creativity is getting better.

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A Survey on Network Packet Inspection and ARP Poisoning Using Wireshark and Ettercap

A Survey on Network Packet Inspection and ARP Poisoning Usin...

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2021 International Conference on Artificial Intelligence and Smart Systems, ICAIS 2021

作者： Majidha Fathima, K.M. Santhiyakumari, N. Sri Krishna College of Engineering and Technology Coimbatore Department of Computer Science and Engineering India Knowledge Institute of Technology Department of Electronics and Communication Engineering Salem India

ISBN: (纸本)9781728195377

A network consists of a collection of nodes such as hubs, bridges, switches, routers, firewalls, brouters, packet shapers. The hubs help in connecting two devices. The bridges and switches function in layer 2 of ISO-OSI (Open Systems Interconnection). Routers perform the role of delivering packets from source to destination. Firewalls protect the networks by filtering the traffic between sender and receiver. The packet shapers help in regulating the traffic by cutting out spikes in a connectivity. The network is being utilized as 24∗7 days support. The network is being exposed to various kinds of attacks such as ARP (Address Resolution Protocol), DDOS (Distributed Denial of Service). Hence the performance monitoring plays a vital role in preserving a network. The tools such as wireshark and ettercap are being analyzed in this paper. The network traffic is being interpreted by wireshark. Ettercap analyzes ARP poisoning attack. The preventive actions are taken based on the output of the monitoring tools. © 2021 IEEE.

关键词： Denial-of-service attack

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A survey on evolution of cloud technology and virtualization 3

A survey on evolution of cloud technology and virtualization

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3rd International Conference on Intelligent Communication Technologies and Virtual Mobile Networks, ICICV 2021

作者： Majidha Fathima, K.M. Santhiyakumari, N. Sri Krishna College of Engineering and Technology Department of Computer Science and Engineering Coimbatore India Knowledge Institute of Technology Department of Electronics and Communication Engineering Salem India

ISBN: (纸本)9780738111834

The term cloud is termed as a collection of resources both physical and virtual. The customers across the globe are accessing the services of the cloud. The key elements of the data center formed by the cloud are compute, network, storage, application and DBMS (Database Management System). The services provided by a real machine are imitated by the virtual machines. The services offered are for resources like CPU (Central Processing Unit), NIC (Network Interface Card), memory and hard disk. NIC is used to connect the system to the network. The virtual machines are created by software's like hypervisor. The hypervisor serves as the Virtual Machine Monitor (VMM). It forms as an intermediate between the physical machine and virtual machine. VMware Workstation Pro, Oracle Virtual Box are the examples of hypervisor. The operating system (OS) of the real machine is called as 'host OS'. 'Guest OS' is the operating system of the virtual machine formed. The number of virtual machines created depends on the underlying hardware of the physical machine with sophisticated hard disks like SSD (Solid State Drive). A virtualized data center with resources is simulated using CloudSim and the results are interpreted. © 2021 IEEE.

关键词： Program processors

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Bridging the Gap with Sensor Networks and Cloud Computing in the Geospatial Web for Optimized Data Services 7

Bridging the Gap with Sensor Networks and Cloud Computing in...

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7th International Conference on Contemporary Computing and Informatics, IC3I 2024

作者： Veeresh, G. Sreevani, N. Lakhanpal, Sorabh Sharma, Saurabh Reddy, B.Ravali Al-Rubaye, Taqi Mohammed Khattab New Horizon College of Engineering Bangalore India Dundigal Hyderabad500043 India Lovely Professional University Phagwara India Lloyd Law College Plot No. 11 Knowledge Park II Uttar Pradesh Greater Noida201314 India Mlr Institute of Technology Department of Computer Science and Engineering Telangana Hyderabad India The Islamic University College of Medical Technologies Department of Medical Laboratory Technology Najaf Iraq

ISBN: (纸本)9798350350067

Implementing cloud computing and data networks for local internet services is a priority. This research addresses the issue by introducing a novel approach to enhance the quality of regional internet data services. The proposed technique, Geographical Data Fusion with Dynamic Cloud Resource Allocation (GDF-DCRA), enhances map analytics by combining geographical data fusion with dynamic cloud resource allocation. GDF-DCRA enhances the speed of geospatial analytics by reducing sensor data, efficiently allocating cloud resources, and integrating spatial and temporal data. It consistently outperforms six industry benchmarks in terms of speed, latency, scalability, data accuracy, bandwidth efficiency, fault tolerance, and resource utilisation. Despite the increasing difficulty of working with real-time location data, the proposed approach has the potential to address these challenges. © 2024 IEEE.

关键词： Spatio-temporal data

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Evaluating the Performance to Detecting Topic Shift of Large Language Models: A Study 9

Evaluating the Performance to Detecting Topic Shift of Large...

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9th International Conference on Intelligent Computing and Signal Processing, ICSP 2024

作者： Tian, Pingfang Liu, Deting Department of Computer Science and Technology Wuhan University of Science and Technology Wuhan430065 China Institute of Scientific and Technical Information of China The Key Laboratory of the Rich Media Knowledge Organisation and Service of Digital Publishing Content Beijing100038 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China Big Data Science and Engineering Research Institute Wuhan University of Science and Technology Wuhan430065 China

ISBN: (纸本)9798350376548

Topic shift detection aims to identify whether there is a change in the current topic of conversation or if a change is needed. The study found previous work did not evaluate the performance of large language models like ChatGPT on the task of topic shift. Therefore, this paper's main task and innovation lie in analyzing ChatGPT's performance on topic shift detection. To provide a more comprehensive evaluation, we conducted topic shift detection tasks on ChatGPT from three aspects: single utterances, adjacent utterances, and contextual levels. Additionally, to gauge the performance of large language models, we conducted experiments on multiple small-scale models and compared the results of the two models. Experimental results on the publicly available English TIAGE dataset showed that small-scale models exhibited lower recall in all three aspects, while ChatGPT performed better in the recall. This suggests that compared to small-scale models, large models are more capable of accurately detecting topic shifts. However, large models also exhibited lower precision, indicating that while ChatGPT can recognize content differences in utterances, its judgment on whether these different contents belong to the same topic is poor. © 2024 IEEE.

关键词： adjacent utterances level ChatGPT contextual level single utterances level topic shift detection

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Internet of Things (IoT) Insights in the Healthcare Sector: A Topic Modelling Approach 10

Internet of Things (IoT) Insights in the Healthcare Sector: ...

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10th IEEE Uttar Pradesh Section International Conference on Electrical, Electronics and computer engineering, UPCON 2023

作者： Ingale, Nilesh Vasant Nassa, Vinay Kumar Kumarbha, Modi Bhumika Jamalpur, Bhavana Gehlot, Anita Chakravarthi, M. Kalyan G.H. Raisoni Institute of Engineering and Business Management Coet North Maharashtra Knowledge Jalagaon Department of Computer Engineering Jalgaon India India Shri. C. J. Patel College of Computer Studies Sankalchand Patel University Visnagar India School of Computer Science and Artificial Intelligence Sr University Warangal Telangana India Uttaranchal Institute of Technology Uttaranchal University India School of Electronics Engineering VIT-AP University Amaravathi522237 India

ISBN: (纸本)9798350382471

With an invention of Internet of Things (IoT), both traditional and digital realms are rapidly integrating, thereby changing the livelihood of people in such a manner, that were unimaginable merely just a decade ago. IoTs have created a big effect so far despite being in their nascent stage, especially in the healthcare (HC) sector. This research seeks to uncover essential themes hidden within limited, yet expanding scholarly papers on IoT applications in HC. By performing topic modeling, we were able to pinpoint 5 key experiment groups, including confidentiality and safety, wirelessly networking techniques, apps, dataset, smarter well-being and cloud. Study findings demonstrate that societal issues have not received much emphasis as compared to technological issues in HC IoT exploration. With regard to classifying and analyzing the selected topics, our paper offers suggestions for further investigation. © 2023 IEEE.

关键词： Healthcare sector IoT Topic modeling wireless network technique

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Brain-Controlled computer Tasks for Paralyzed Persons: Framework Overview

Brain-Controlled Computer Tasks for Paralyzed Persons: Frame...

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2023 International Conference on Industry sciences and computer science Innovation, iSCSi 2023

作者： Imran, Amna Chaudhary, Haider Tariq, Maimoona Ali, Zahra Ahad, Abdul Naqvi, Hammad Coelho, Paulo Jorge Pires, Ivan Miguel Knowledge Unit of Science and Technology University of Management and Technology Sialkot Pakistan School of Software Northwestern Polytechnical University Shaanxi Xian710072 China Department of Computer Science Istanbul Technical University Turkey Polytechnic of Leiria Leiria Portugal Institute for Systems Engineering and Computers at Coimbra Coimbra Portugal Instituto de Telecomunicações Universidade da Beira Interior Covilhã Portugal

To bridge the digital barrier between those with disabilities and those without impairments, several applications can be operated by brain signals. It highlights the importance of employing brain-computer interfaces (BCI) and mentions a specific system called the "Brain-Controlled computer System" that can control a computer cursor and perform mouse actions using brain signals.. The system can control the cursor and provide mouse left/right click with brain signals using a low-cost Brainlink Lite device. Based on this system, we employed machine learning and deep learning methodologies to develop a system that classifies brain signals for cursor movement. The methodology involved gathering user input through surveys, interviews, and comparison studies, as well as utilizing pre-developed datasets collected using a mind sensor. We initially trained a model on a previous dataset, achieving approximately 70% accuracy. However, when applied to the new dataset, the accuracy dropped to 49%. To improve the results, we experimented with more complex models, including additional layers and a dropout layer to prevent overfitting. Despite these enhancements, the accuracy only reached a maximum of 52%. The research team collected a dataset tailored to their specific application. They made a groundbreaking discovery by applying a convolutional neural network (CNN), typically used for image analysis, to process continuous brainwave data. Despite this non-standard use, their hypothesis proved correct, with the CNN model achieving an impressive 80% accuracy in classifying brain signals for controlling a cursor. © 2024 The Authors. Published by ELSEVIER B.V.

关键词： Brain computer interface

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