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CPL-SLAM: Centralized Collaborative Multirobot 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 of the Ministry of Education for Intelligent Control System and Intelligent Equipment Key Laboratory of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Laboratory 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 Shenzhen518060 China Carleton University School of Information Technology Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

Traditional visual-inertial Simultaneous Localization and Mapping (SLAM) 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 intrarobot and interrobot 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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SpectrumChain: a disruptive dynamic spectrum-sharing framework for 6G

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science China(Information sciences) 2023年第3期66卷 26-39页

作者： Qihui WU Wei WANG Zuguang LI Bo ZHOU Yang HUANG Xianbin WANG College of Electronic and Information Engineering Nanjing University of Aeronautics and Astronautics Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Ministry of Industry and Information Technology No.8511 Research Institute of CASIC Department of Electrical and Computer Engineering Western University

The sixth-generation(6G) wireless network will support ubiquitous connectivity and diversified scenarios to satisfy the requirements of various emerging applications. Full spectrum is a key enabler for6G to achieve the ambitious goal of a Tbps-scale data rate. In this paper, we first review the scenario and potential spectrum plan for 6G and then focus on SpectrumChain, a blockchain-based dynamic spectrumsharing(DSS) framework for 6G. The unique characteristics of blockchain for DSS are presented along with key technologies. Finally, the conclusion and future development trends are discussed.

关键词： dynamic spectrum sharing blockchain 6G

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A Model Driven Framework Enabling the Development of Standardized Text-Free User Interface for Smartphones 21

A Model Driven Framework Enabling the Development of Standar...

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21st International Bhurban Conference on Applied sciences and Technology, IBCAST 2024

作者： Rasheed, Uzair Khalid, Sadia Mehmood, Rabia Ahmad, Muhammad Muneer, Mishal College of Electrical and Mechanical Engineering NUST Department of Computer and Software Engineering Islamabad Pakistan Lahore College for Women University Department of Computer Science Lahore Pakistan International Univesity of Rostock Department of Computer science Germany

ISBN: (纸本)9798331516680

Smartphones offer a wide range of applications globally, and usability is a key factor in their quality. Human-computer Interaction (HCI) continuously evolves to enhance usability by improving user interface (UI) components. However, most UI trends are designed for literate users, neglecting a significant portion of the population who cannot read or write. These users often rely on others for assistance with smartphone applications, and text-based UIs hinder their learning and usage, reducing overall usability. This research addresses the limitations of text-based standards by introducing a standardized framework for developing text-free user interfaces for smartphones. The framework utilizes static and dynamic images instead of text to convey widget or button functions, aiming to enhance usability for illiterate users, including preschoolers. Developed with Obeo Designer and Sirius, the framework's Platform Independent Metamodel (PIM) was validated through case studies representing the target user groups. Future work involves Model to Text (M2T) transformation, and results show the framework's potential for automating applications with text-free UIs. © 2024 IEEE.

关键词： Smartphones

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Single-Valued Neutrosophic Graph with Heptapartitioend Structure

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Neutrosophic Sets and systems 2025年 80卷 728-748页

作者： Fathi, Hanaa Myvizhi, M. Abdelhafeez, Ahmed Abdellah, Mohamed Refaat Eassa, Mohamed Sawah, Mohamed S. Elbehiery, Hussam College of Information Technology Amman Arab University Amman Jordan KPR Institute of Engineering and Technology Tamilnadu Coimbatore India Computer Science Department Faculty of Information System and Computer Science October 6 University Giza12585 Egypt Applied Science Research Center Applied Science Private University Amman Jordan The Department of Computer Science College of Information Technology Misr University for Science and Technology Cairo Egypt Department of Computer Science Faculty of Information Technology Ajloun National University P.O.43 Ajloun26810 Jordan

This study applies single-valued neutrosophic sets, which extend the frameworks of fuzzy and intuitionistic fuzzy sets, to graph theory. We introduce a new category of graphs called Single-Valued Heptapartitioned Neutrosophic Graphs (SVHNG) and investigate their characteristics through comprehensive proofs and illustrative examples. © 2025, University of New Mexico. All rights reserved.

关键词： Heptapartitioend Neutrosophic Set Neutrosophic Graph Neutrosophic Sets SVHN-Graph

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AI-Enhanced LSB Steganography Interface: Concealed Data Embedding Framework 9

AI-Enhanced LSB Steganography Interface: Concealed Data Embe...

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9th IEEE International Conference on Smart Structures and systems, ICSSS 2023

作者： Raja Rajeswari, N. Meenadshi, M. Saveetha Engineering College Department of Mechanical Engineering Chennai India Saveetha Engineering College Department of Computer Science and Engineering Chennai India

ISBN: (纸本)9798350384208

Steganography involves concealing text-based secret data within non-text files such as image, audio, or video files, with the extraction of the hidden data taking place at its destination. This avoids detection. Therefore, it becomes challenging for anyone to detect the presence of a concealed message within the image, highlighting the increasing importance of data privacy in contemporary times. The primary objective of Steganography is to enable clandestine communication between two individuals, typically involving the processes of encoding and decoding. This project specifically focuses on image Steganography, allowing the encoding and decoding of data within an image file. Through the utilization of steganography, an individual can conceal a substantial amount of text, comprising thousands of words, within a standard-sized image. To implement this Steganography approach, Python Image Library (PIL) is employed in conjunction with the Tkinter framework. LSB (Least Significant Bit) steganography techniques are applied for encryption and decryption functionalities. The primary goal is to create an application that employs LSB insertion to encode data within a cover image and, in a user-friendly manner, decode the original message from the embedded image. Additionally, AI-based encryption methodologies are integrated to enhance data security and fortify the concealment of information within the images, showcasing the synergy between advanced encryption techniques and traditional steganographic methods. © 2023 IEEE.

关键词： Python

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Optimizing Broadcast Utilization for Efficient Disaster Management Using Wireless Ad Hoc Networks and Novel Energy-Saving Algorithms

International Journal of Interactive Mobile Technologies

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International Journal of Interactive Mobile Technologies 2024年第20期18卷 142-156页

作者： Alzyoud, Faisal Y. Tarawneh, Monther Almaghthawi, Ahmed Altalidi, Askar Asiri, Layla Alrehaili, Meaad Department of Computer Science Faculty of Information Technology Isra University Amman Jordan Department of Information Technology College of Information Technology and Communications Tafila TechnicaUniversity Tafila Jordan Department of Computer Science College of Science & Art at Mahayil King Khalid University Abha Saudi Arabia Department of Information Science College of Science & Art at Mahayil King Khalid University Abha Saudi Arabia Departement of Computer Information System Applied college at Mahayil King Khalid University Abha Saudi Arabia Department of Computer Sciences and Artificial Intelligence Collège of Computer Science and Engineering University of Jeddah Jeddah Saudi Arabia

Globalization, industry, and population growth is considered the main reasons for climate change, so when some natural calamity or disaster occurs in any area, it leads to isolating this area from the rest of the region. Wireless ad hoc networks are important in disaster management to reduce losses and costs as they reduce the response, aiding time to save lives. However, they suffer from limited energy, which controls the lifetime of the sensor. Different methods are applied to save energy and increase battery life, such as sleep-awake schedules which assume similar initial energy for all nodes. Domestic partition in a unit disk graph is the production of the maximum possible number of such disjoint dominants. However, it assumes different initial energy levels for all nodes, which is another problem. In this paper, a new broadcast approach based on minimum set data broadcasting is proposed to mini-mize the number of broadcasting messages to increase the battery life during disasters and enhance rescue operations. The proposed minimum rebroadcast algorithm (MSRA) method balances coverage and utilization efficiency by dynamically adjusting node selection based on network conditions. The results show that MSRA significantly reduces power consumption and transmission latency, opening the way to find a new solution for disaster management using wireless ad hoc networks. © 2024 by the authors of this article.

关键词： Mobile ad hoc networks

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Development of Mg-Zn-Mn Surface Composites Reinforced with ZnO Through Friction Stir Processing and Investigation of Corrosion and Wear Behavior

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Journal of Bio- and Tribo-Corrosion 2025年第2期11卷 1-11页

作者： Ramesh, S. Kudva, S. Aditya Gurumurthy, B.M. Kumar, Prakash Kumar, Sanjeev Prashanth, B. H. Maruthi Adiga, Shamantha Anne, Gajanan Karthik, B.M. School of Computer Science and Engineering RV University Bengaluru India Department of Mechanical Engineering Shri Madhwa Vadiraja Institute of Technology and Management Udupi574115 India Department of Mechanical and Industrial Engineering Manipal Institute of Technology Manipal Academy of Higher Education Karnataka Manipal567104 India Univlabs Technologies Private Limited Haryana Gurugram122003 India Department of Mechanical Engineering Gaya College of Engineering Gaya823003 India Department of Mechanical Engineering A.G.M Rural College of Engineering & Technology Varur Karnataka Hubballi581207 India Visvesvaraya Technological University Karnataka Belagavi India

Magnesium (Mg) composites exhibit exceptional properties, making them ideal for diverse applications in the medical, aerospace, and energy industries. The extensive use of Mg-based composites has driven ongoing efforts to enhance their properties and performance. Therefore, the present work focused on the fabrication of Mg-Zn-Mn surface composites reinforced with Zinc oxide (ZnO) through friction stir processing (FSP). The effect of the addition of ZnO on microstructure, mechanical properties, corrosion, and wear behavior was investigated. The development of the microstructure is analyzed using a scanning electron microscope (SEM) and X-ray diffraction analysis. Surface topography and roughness are analyzed using atomic force microscopy (AFM) and revealed a Ra value of 68.4 nm. The mechanical properties of the friction stir processed samples are investigated using Vickers microhardness equipment. The FSP/ZnO-Mg-Zn-Mn surface nanocomposites demonstrated a microhardness of 152.7 Hv, which is 2.4 times greater than that of the H-Mg-Zn-Mn base materials. The enhancement in the corrosion resistance of the FSP/ZnO-Mg-Zn-Mn surface nanocomposites is primarily due to the combined effect of the refined grains and the uniform dispersion of ZnO particles. Furthermore, this surface composite had the best wear resistance as a result of significant grain refinement and higher hardness. © The Author(s) 2025.

关键词： Grain refinement

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Sports Events Recognition Using Multi Features and Deep Belief Network

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computers, Materials & Continua 2024年第10期81卷 309-326页

作者： Bayan Alabdullah Muhammad Tayyab Yahay AlQahtani Naif Al Mudawi Asaad Algarni Ahmad Jalal Jeongmin Park Department of Information Systems College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Science Air UniversityIslamabad44000Pakistan Department of Computer Science Applied CollegeKing Khalid UniversityAbha61421Saudi Arabia Department of Computer Science College of Computer Science and Information SystemNajran UniversityNajran55461Saudi Arabia Department of Computer Sciences Faculty of Computing and Information TechnologyNorthern Border UniversityRafha91911Saudi Arabia Department of Computer Engineering Korea Polytechnic UniversitySiheung-siGyeonggi-do237Republic of Korea

In the modern era of a growing population,it is arduous for humans to monitor every aspect of sports,events occurring around us,and scenarios or *** recognition of different types of sports and events has increasingly incorporated the use of machine learning and artificial *** research focuses on detecting and recognizing events in sequential photos characterized by several factors,including the size,location,and position of people’s body parts in those pictures,and the influence around those *** approaches utilized,here are feature descriptors such as MSER(Maximally Stable Extremal Regions),SIFT(Scale-Invariant Feature Transform),and DOF(degree of freedom)between the joint points are applied to the skeleton ***,for the same purposes,other features such as BRISK(Binary Robust Invariant Scalable Keypoints),ORB(Oriented FAST and Rotated BRIEF),and HOG(Histogram of Oriented Gradients)are applied on full body or *** integration of these techniques increases the discriminative nature of characteristics retrieved in the identification process of the event,hence improving the efficiency and reliability of the entire *** extracted features are passed to the early fusion and DBscan for feature fusion and *** deep belief,network is employed for *** results demonstrate a separate experiment’s detection average recognition rate of 87%in the HMDB51 video database and 89%in the YouTube database,showing a better perspective than the current methods in sports and event identification.

关键词： Machine learning silhouettes extremal regions joint points scalable keypoints

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The Local Resolving Dominating Set of Comb Product Graphs

IAENG International Journal of Computer Science

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IAENG International Journal of computer science 2024年第2期51卷 115-120页

作者： Umilasari, Reni Susilowati, Liliek Slamin Prabhu, Savari Fadekemi, Osaye J. Universitas Muhammadiyah Jember Indonesia Mathematics Department Airlangga University Indonesia Department of Informatics System Jember University Indonesia Mathematics Department Rajalakshmi Engineering College Tamil Nadu Chennai602105 India Department of Mathematics and Computer Science Alabama State University United States

The local resolving dominating set studied in this paper is a notion that combines two concepts in graph theory, the local metric dimension and dominations in graphs. Let G and H be connected graphs of orders n and m, respectively;and x a vertex in H hereafter referred to as a linkage vertex. The comb product of G and H denoted by G.H, is a graph obtained by taking one copy of G and n copies of H and attaching the i-th copy of H at the vertex x to the i-th vertex of G. In this paper, we determine the local resolving dominating set of the comb products G. Sn with two different linkage vertices, G. Kn, G. Km,n and G. Cm graphs. © (2024), (International Association of Engineers). All Rights Reserved.

关键词： Graph theory

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Comprehensive Study of Advantages, Limitations, Applications and Similar Tool of ChatGPT

Comprehensive Study of Advantages, Limitations, Applications...

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2024 International Conference on Artificial Intelligence and Quantum Computation-Based Sensor Applications, ICAIQSA 2024

作者： Rathi, Nayan Bandavade, Prakash Chaubey, Himanshu Jaju, Santosh Thakur, Shruti G H Raisoni College of Engineering Computer Science Engineering Department Maharashtra Nagpur India G H Raisoni College of Engineering Mechanical Engineering Department Maharashtra Nagpur India

ISBN: (纸本)9798331517953

ChatGPT is nothing but a natural language processing model which takes input from humans and gives them the response which is appropriate according to him. ChatGPT gives the data which is already in the search engine and cannot create the data of its own. It is not creative, as it cannot create its own content. It is very powerful tool which helps in writing code, preparing for interview, calculating mathematical solution though it has various drawbacks such as it lacks logical reasoning, cannot calculate complex mathematical calculation like irrational number to the power of irrational number, it also makes grammatical error and it does not have information from recent scenario, you get information which occurred 2 years back. But it has industrial application like it is used as customer support in many companies, used to keep routine of employee in company by providing them proper schedule for work, it is also used to get code which makes works of employee lot more easier, So this are the key points about it. © 2024 IEEE.

关键词： Modeling languages

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