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Lidar Measurement Analysis for Detection of Down-Curbs and Up-Curbs

Journal of Institute of Control, Robotics and systems 2023年第2期29卷 126-134页

作者： Lee, Minyoung Cha, Moo Hyun Lee, Hanmin Lee, Sooyong Department of Smart Machine Technology Korea Institute of Machinery and Materials Korea Republic of Department of Mechanical and System Design Engineering Hongik University Korea Republic of

Autonomous mobile robots are widely used for delivering food, drinks, and small goods. Because of their mobility, unmanned mobile robots can move on roads, sidewalks, and crosswalks. Even though most of them are paved and structured (indoor and outdoor), in contrast to uneven terrain, common obstacles are up-curbs and down-curbs. Small tires are used for such robots;it is essential to identify the curbs and to determine whether the robot can proceed. In this paper, the minimum heights for safe travel over down-curb and up-curb are derived based on the geometric analysis. Lidar information is only analyzed based on the distance readings rather than using a point cloud’s coordinates values. The precision of the sensor and the road flatness are considered in identifying the curb with a recursive estimation of the flatness. This study presents an essential function for an autonomous mobile robot to complete safe movement. © ICROS 2023.

关键词： Optical radar

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A recurrent neural network architecture for android mobile data analysis for detecting malware infected data

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Soft Computing 2024年第21期28卷 12917-12928页

作者： Murugan, Prabhu Manimaran, A. Sundar, Ramesh Dakshinamoorthy, Prabakar Rajaram, Gnanajeyaraman Garg, Shruti Department of ECE Saveetha School of Engineering Simats Chennai602105 India Department of Artificial Intelligence and Machine Learning Saveetha School of Engineering Simats Chennai602105 India Department of Netwoking and Communication School of Computing SRM Institute of Science and Technology SRM Nagar Kattankulathur India Department of Data Science and Business System School of Computing SRM Institute of Science and Technology SRM Nagar Kattankulathur India Department of Applied Machine Learning Saveetha School of Engineering Saveetha Institute of Medical and Technological Sciences Tamilnadu Chennai India Birla Institute of Technology Mesra Ranchi India

One of the latest modern communication devices is a mobile device seriously affected by multiple malware. Malware is a virus software installed automatically by hackers on various computing devices. Malware corrupts the system software, kills *.exe files, and tries to access user-sensitive data from the device. Around the world, 80% of people use smartphones, and 70% use Android phones. All Android phones are installed with anti-virus software but not used properly. Thus, it creates a pathway for malware to enter Android mobile devices and deploy vulnerabilities. Several earlier methods have focused on using the malware detection method by analyzing static data, which cannot identify the dynamic behavior of the malware. Thus, this paper implemented one of the deep learning algorithms, RNN, for identifying and detecting malware activities in Android mobile devices statically and dynamically. An IoT network architecture is proposed for experimenting with the RNN algorithms verifying the performance. The results of the RNN method show that it is better than other models in malware detection in mobile devices. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Android malware

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Text to Image Generation Using Attentional Generative Adversarial Network 1

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1st International Conference on Advanced Computing, machine Learning, Robotics and Internet Technologies, AMRIT 2023

作者： Rao, Supriya B. Shetty, Shailesh S. Singh, Chandra M, Srinivas P. Bekal, Anush Department of Artificial Intelligence and Machine Learning New Horizon College of Engineering Bangalore Karnataka Mangaluru India Department of Computer Science and Business System Srinivas Institute of Technology Karnataka Mangaluru India Department of Electronics & Communication Engineering Sahyadri College of Engineering & Management Karnataka Mangaluru India Department of Computer Science Engineering Sahyadri College of Engineering & Management Karnataka Mangaluru India

ISBN: (数字)9783031472213

ISBN: (纸本)9783031472206

AttnGan – Attentional Generative Adversarial Network (GAN) is a type of GANs that is used for text to image generation. Unlike other art models, it focuses on fine-grained word level information and once the model is trained by mapping the images and the corresponding text in the dataset, the model will generate image part-by-part using the image description given by the user as an input to the model. Current paper, focuses on the conversion of text into images based on the description provided by the user. This enables them to translate their ideas in the form of text into images of their required choices. The model is initially trained by the description of the text and images and when the user provides the text as an input to the system, it is used as a testing data. By analyzing the text word-by-word, the respective images pertaining to the text is generated part-by-part by considering the text description into account. This can heavily help the users in a applications such as in editing aids, documental archives, etc. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Generative adversarial networks

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Acoustic design through similitude and sensitivity analysis 24

Acoustic design through similitude and sensitivity analysis

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24th International Congress on Acoustics, ICA 2022

作者： Adams, Christian Technical University of Darmstadt Mechanical Engineering Department System Reliability Adaptive Structures Machine Acoustics SAM Germany

Every physical equation must be dimensionally homogeneous. This statement seems self-evident. In fact, it is the starting point of similitude theory. In fluid mechanics and thermodynamics similitude methods were already developed in the 19th and 20th centuries to carry out model tests on scaled models and to predict the behaviour of the original. In vibroacoustics model tests based on similitude theory have not yet been able to establish themselves. On the other hand, model tests are well suited to validate vibroacoustic properties of mechanical engineering systems in early design phases. This paper describes a method that combines similitude theory with sensitivity analysis. This simplifies the derivation of scaling laws in early phases of product design processes since the method requires only input parameters and output parameters such as geometrical dimensions or material properties and, respectively, modal quantities or acoustic transfer functions. Two case studies, a vibrating car undercarriage structure and gear box housings, demonstrate how model tests can contribute to the acoustic design of these structures. Besides numerical simulations experimental validations will be discussed for the gear box housings as well. © ICA *** rights reserved

关键词： Acoustic Design Sensitivity analysis Similitude

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Numerical analysis on defect detection using structural intensity in solid bodies 24

Numerical analysis on defect detection using structural inte...

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24th International Congress on Acoustics, ICA 2022

作者： Schuhmann, Axel Helmut Kleinfeller, Nikolai Sepehrirahnama, Shahrokh Oberst, Sebastian Adams, Christian Melz, Tobias Technical University Darmstadt Mechanical Engineering Department of System Reliability Adaptronics and Machine Acoustics Germany School of Mechanical and Mechatronic Engineering Australia

Analysing structural intensity (SI) offers the possibility to assess the transmission of wave energy within a structure. Measurement of SI has been mainly focused on thin shells and beams. In this work a measurement method is presented to evaluate SI within solid, homogeneous, and isotropic bodies. The method is based on the reciprocity principle, a fundamental assumption in linear vibroacoustics. It allows the reconstruction of the structural intensity field within the bulk of a solid body from the measured surface velocities on the exterior boundaries. From the preliminary results, we demonstrate the capability of this method in approximating the spatial variation of the reconstructed stress and velocity fields using finite element simulation results. Inspired by the reciprocity-based method, we also demonstrate a cavity detection technique using the structural intensity measured along a closed path on a surface of a solid block. Despite some discrepancies in the estimate of the magnitude, the method works well in principle for the benchmark problem of a rectangular cube and it can be verified using our recently set up experimental test. Our proposed method provides an alternative energy-based SI detection technique that may perform as well as those exploiting velocity/acceleration or strain/stress. © ICA *** rights reserved

关键词： Damage Detection Measurement Structural Intensity

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May I Have Your Attention?! Exploring Multitasking in Human-Robot Collaboration

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IFAC-PapersOnLine 2024年第19期58卷 241-246页

作者： Abdulrahman K. Eesee David Kostolani Taeho Kang Sebastian Schlund Tibor Medvegy János Abonyi Tamás Ruppert Department of System Engineering University of Pannonia 8200 Veszprém Hungary TU Wien Department of Human-Machine Interaction 1040 Vienna Austria

Human-robot collaboration promises to free the human to multitask and engage in cognitive work while the robots assists with physical tasks, therefore increasing productivity. However, this collaborative paradigm requires continuous attention from human operators, which could potentially strain their cognitive resources. Excessive attention demands can lead to safety hazards, increased errors, and reduced efficiency. Despite its critical importance, there is limited empirical research on attentional factors in industrial human-robot collaboration. In this study, we explore attentional multitasking in collaborative human-robot assembly settings. Our experimental setup involves participants performing a wire harnessing task with a collaborative robot while simultaneously completing a Go/No-Go test as a secondary task. To observe the effect of multitasking, we varied the difficulty of the secondary task across two levels and analysed its impacts on work performance and workload. Our results confirm threaded cognition theory, suggesting that human-robot collaboration could reduce cognitive capacity by depleting attentional resources, leading to higher errors and cycle times during multitasking. This underscores the importance of a detailed understanding of attentional factors in human-robot collaboration. We discuss our findings and their implications, and provide insights into the adjustment and design of human-robot collaboration tasks in the industry.

关键词： Attention Human-Robot Interaction Multitasking Collaborative Assembly

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Development of In-Vivo Rabbit Model of Human Finger Skin Injuries for Determining Safety Criteria for Human-Robot Contact 23

Development of In-Vivo Rabbit Model of Human Finger Skin Inj...

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23rd International Conference on Control, Automation and systems, ICCAS 2023

作者： Fujikawa, Tatsuo Okai, Kazumi Yamada, Yoji Rajaei, Nader Nishimoto, Tetsuya College of Engineering Nihon University Koriyama963-8642 Japan Nagoya University Department of Mechanical System Engineering Nagoya464-8608 Japan Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich80992 Germany

ISBN: (纸本)9788993215274

An in-vivo rabbit model was developed to enable experiments for deciding the safety criteria for skin injuries in human-robot contact. The skin of the human finger was considered as a part vulnerable to harm during human-robot collaboration. The forearms and lower legs of rabbits were selected for substituting the human fingers. Computerized tomography imaging of the rabbit subjects and magnetic resonance imaging of human fingers were performed. Based on the captured images, the caudal part of the rabbit forearm and the lateral part of the rabbit lower leg were confirmed to have dimensions similar to the lateral part and the dorsal part of the human finger, respectively. Test equipment was developed to induce dynamic contacts between the rabbit parts and impactors at a velocity of 250 mm/s with a contact duration shorter than 100 ms. The dynamic pinching of fingers was represented by experiments using a wedge-shaped impactor with a rounded ridge to contact the skin and a flat-ended cylindrical impactor with a diameter of 10 mm. The skin opening and the bruising caused by the contact were investigated after the experiments. The model was confirmed to be applicable to the experiments for deciding the safety criteria. © 2023 ICROS.

关键词： Risk assessment

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Improved Capon Estimator for High-Resolution DOA Estimation and Its Statistical Analysis

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1716-1729页

作者： Weiliang Zuo Jingmin Xin Changnong Liu Nanning Zheng Akira Sano IEEE the National Key Laboratory of Human-Machine Hybrid Augmented Intelligence the National Engineering Research Center for Visual Information and Applicationsand the Institute of Artificial Intelligence and RoboticsXi’an Jiaotong UniversityXi’an 710049China the Data Center China Construction BankBeijing 100033China the Department of System Design Engineering Keio UniversityYokohama 223-8522Japan

Despite some efforts and attempts have been made to improve the direction-of-arrival(DOA)estimation performance of the standard Capon beamformer(SCB)in array processing,rigorous statistical performance analyses of these modified Capon estimators are still *** paper studies an improved Capon estimator(ICE)for estimating the DOAs of multiple uncorrelated narrowband signals,where the higherorder inverse(sample)array covariance matrix is used in the Capon-like cost *** establishing the relationship between this nonparametric estimator and the parametric and classic subspace-based MUSIC(multiple signal classification),it is clarified that as long as the power order of the inverse covariance matrix is increased to reduce the influence of signal subspace components in the ICE,the estimation performance of the ICE becomes equivalent to that of the MUSIC regardless of the signal-to-noise ratio(SNR).Furthermore the statistical performance of the ICE is analyzed,and the large-sample mean-squared-error(MSE)expression of the estimated DOA is *** the effectiveness and the theoretical analysis of the ICE are substantiated through numerical examples,where the Cramer-Rao lower bound(CRB)is used to evaluate the validity of the derived asymptotic MSE expression.

关键词： Capon beamformer direction-of-arrival(DOA)estimation large-sample mean-squared-error(MSE) subspace-based methods uniform linear array

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Marine Predators Algorithm with Deep Learning-Based Leukemia Cancer Classification on Medical Images

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Computer Modeling in engineering & Sciences 2024年第10期141卷 893-916页

作者： Sonali Das Saroja Kumar Rout Sujit Kumar Panda Pradyumna Kumar Mohapatra Abdulaziz S.Almazyad Muhammed Basheer Jasser Guojiang Xiong Ali Wagdy Mohamed Department of Computer Science&Engineering Gandhi Institute for TechnologyBPUTBhubaneswar752054India Department of Information Technology Vardhaman College of Engineering(Autonomous)Hyderabad501218TelanganaIndia Department of Electronic&Communication Engineering Vedang Institute of TechnologyBhubaneswar752010India Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityRiyadh11543Saudi Arabia Department of Computing and Information Systems School of Engineering and TechnologySunway UniversityJalan UniversitiBandar SunwaySelangor Darul Ehsan47500Malaysia Research Centre for Human-Machine Collaboration(HUMAC) School of Engineering and TechnologySunway UniversityJalan UniversitiBandar SunwaySelangor Darul Ehsan47500Malaysia Guizhou Key Laboratory of Intelligent Technology in Power System College of Electrical EngineeringGuizhou UniversityGuiyang550025China Operations Research Department Faculty of Graduate Studies for Statistical ResearchCairo UniversityGiza12613Egypt Applied Science Research Center Applied Science Private UniversityAmman11931Jordan

In blood or bone marrow,leukemia is a form of cancer.A person with leukemia has an expansion of white blood cells(WBCs).It primarily affects children and rarely affects *** depends on the type of leukemia and the extent to which cancer has established throughout the *** leukemia in the initial stage is vital to providing timely patient *** image-analysis-related approaches grant safer,quicker,and less costly solutions while ignoring the difficulties of these invasive *** can be simple to generalize Computer vision(CV)-based and image-processing techniques and eradicate human *** researchers have implemented computer-aided diagnosticmethods andmachine learning(ML)for laboratory image analysis,hopefully overcoming the limitations of late leukemia detection and determining its *** study establishes a Marine Predators Algorithm with Deep Learning Leukemia Cancer Classification(MPADL-LCC)algorithm onMedical *** projectedMPADL-LCC system uses a bilateral filtering(BF)technique to pre-process medical *** MPADL-LCC system uses Faster SqueezeNet withMarine Predators Algorithm(MPA)as a hyperparameter optimizer for feature ***,the denoising autoencoder(DAE)methodology can be executed to accurately detect and classify leukemia *** hyperparameter tuning process using MPA helps enhance leukemia cancer classification *** results are compared with other recent approaches concerning various measurements and the MPADL-LCC algorithm exhibits the best results over other recent approaches.

关键词： Leukemia cancer medical imaging image classification deep learning marine predators algorithm

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SIMILITUDE OF A DAMPED VIBRATING COMPOSITE PLATE 10

SIMILITUDE OF A DAMPED VIBRATING COMPOSITE PLATE

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10th Convention of the European Acoustics Association, EAA 2023

作者： Cardellino, Giada Petrone, Giuseppe Adams, Christian Franco, Francesco De Rosa, Sergio Technical University of Darmstadt System Reliability Adaptive Structures and Machine Acoustics SAM Otto-Berndt-Straße 2 Darmstadt64287 Germany University of Naples"Federico II" Department of Industrial Engineering Pasta-Lab Napoli80125 Italy

ISBN: (纸本)9788888942674

The concept of similitude is now widely applied in the engineering vibroacoustics applications since it is particularly useful when applied to the testing of models with increasing complexity. The similitude schemes allow predicting the dynamic response of an original system by using the information obtained from a similar one (defined as avatar or replica according to the partial or complete degree of similitude). In addition to geometric similarity, the focus on damping similitude has increased in recent years: this because the damping represents a highly relevant property during the design phase of any structure. Every material has an intrinsic damping: for example, generally, the damping in metal structures, as aluminum alloys, is lower and this results in high resonances of vibrations. Moreover, the damping evaluation for composite structures is even more complicated because it depends on concomitant factors: lay-up sequence, the type of fibres and resin and the manufacturing process. In this view, it could be helpful to develop a criterion of design evaluating the damping variation from a structure to another and verifying if this relative damping variation can validate with experimental tests. © 2023 First author et al. 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 author and source are credited.

关键词： Damping

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