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Field Robotics 2025年 2卷 971-1000页

作者： Pierre-Yves Lajoie Benjamin Ramtoula Fang Wu Giovanni Beltrame Department of Computer and Software Engineering Polytechnique Montréal Canada Oxford Robotics Institute Department of Engineering Science University of Oxford United Kingdom Desay SV Automotive Singapore

Motivated by the tremendous progress, we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM. With fleets of self-driving cars on the horizon and the rise of multi-robot systems in industrial applications, we believe that Collaborative SLAM will soon become a cornerstone of future robotic applications. In this survey, we introduce the basic concepts of C-SLAM and present a thorough literature review. We also outline the major challenges and limitations of C-SLAM in terms of robustness, communication, and resource management. We conclude by exploring the area's current trends and promising research avenues.

关键词： Robots Simultaneous localization and mapping Robot kinematics Robot sensing systems Collaboration Surveys Multi-robot systems Sensors Market research Trajectory

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A High-Gain DC-DC Boost Converter for Solar Microgrid Systems Using a Switching Inductor and a Capacitor 1

A High-Gain DC-DC Boost Converter for Solar Microgrid System...

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1st International Conference on Advances in computer science, Electrical, Electronics, and Communication Technologies, CE2CT 2025

作者： Prasanth, S. Priyadarsini, S. Lakshmi, R. Sneha, G. Ajitha, S.S. Saravanakumar, R. Narendra, Konnaiah Gari Unnamalai Institute of Technology Department of Computer Science and Engineering Tamil Nadu Kovilpatti India PSR Engineering College Department of Computer Science and Engineering Tamil Nadu Sivakasi India Siddharth Institute of Engineering and Technology Department of Elecrical and Electroncis Engineering Puttur India St. Joseph's Institute of Technology Department of Electronics and Communication Engineering Tamil Nadu Chennai India Vel Tech Multi Tech Dr. Rangarajan Dr. Sakunthala Engineering College Department of Electronics and Communication Engineering Tamil Nadu Chennai India Iconix Software Solution Tamil Nadu Tirunelveli India Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and Technology Department of Electonics and Communication Engineering Tamil Nadu Chennai India

ISBN: (纸本)9798331518578

This paper outlines the design and implementation of a solar microgrid-specific high-gain DC-DC booster converter that makes use of a variable inductor and capacitors. To improve the suitability of photovoltaic (PV) panels for incorporation into microgrids, the proposed converter efficiently increases their low-voltage outputs. Conventional boost converters can't offer that kind of voltage increase because they lose too much performance and put too much strain on their internal components. The converter increases the voltage gain dramatically while maintaining a high degree of efficiency thanks to a switching inductor-capacitor network. The main breakthrough is an inventive multi-stage energy transfer and storage device that cleverly employs a switching inductor and capacitor. This configuration increases the output voltage while decreasing the voltage and current ripples, which in turn reduces the amount of electromagnetic interference (EMI) and increases the life of the components. Thorough assessments of the converter's working via theoretical modeling and simulation studies confirm its performance across several load and input situations common to solar microgrids. The prototype's testing findings show a significant voltage increase and a peak efficiency of over 95% when compared to traditional boost converters. Moreover, the converter's reliable performance over a wide range of voltage sources and workload scenarios proves its suitability for practical solar applications. As a result, the proposed high-gain boost converter will greatly improve the efficiency and reliability of solar microgrids, leading to a rise in the use of renewable energy sources in DGS. © 2025 IEEE.

关键词： Microgrids

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An Efficient Intrusion Detection System using Advanced Machine Learning Techniques in SDN for Healthcare System

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IEEE Journal of Biomedical and Health Informatics 2025年 PP卷 PP页

作者： Asif, Muhammad Waseem Aqdus, Aqsa Amin, Rashid Chaudhry, Shehzad Ashraf Alsubaei, Faisal S. Iqbal, Sajid Department of Computer Science and IT The University of Lahore Lahore54000 Pakistan Department of Computer Science University of Chakwal Chakwal48800 Pakistan Department of Computer Science and Information Technology College of Engineering Abu Dhabi University Abu Dhabi United Arab Emirates Department of Software Engineering Faculty of Engineering and Architecture Nisantasi University Istanbul Turkey The Department of Cybersecurity College of Computer Science and Engineering University of Jeddah Jeddah Saudi Arabia

The quick advancement of healthcare systems necessitates robust and efficient network security keys to defend sensitive patient records and guarantee uninterrupted service delivery. The current IDS has many challenges, such as a high false positive rate, poor accuracy of detection, slow response to threats, and inability to scale well. This paper proposes an efficient and real-time intrusion detection system (IDS) using advanced machine learning techniques within a software-defined networking (SDN) framework specifically tailored for healthcare systems. The proposed architecture implements a Machine Learning (ML) model that combines the SVM and KNN to better identify malicious activities. Full sets of detection and mitigation capabilities are implemented to address different types of traffic in the network with the least interference. Through the different evaluation measures, the efficiency of the proposed model is assured. Network performance is determined by success rate queries, packet losses in each domain path, and the CPU being used by the system. Responsiveness is measured through delay metrics grounded on end-to-end delay, hop-to-hop packet delay, latency rate, and propagation delay. Moreover, model accuracy fidelity is reviewed via precision assessment, alpha (α) affecting the accuracy of the model, and confusion matrix with different techniques with the proposed hybrid SVM-KNN model. Last of all, a comparison of the security of the models in question strengthens the argument in favor of the proposed model. More specifically, flow and network topology diagrams are included to show how integration may be accomplished in linkage or merger with existing healthcare networks. The results also present a 30% overall advancement in detection and mitigation by presenting the hybrid SVM-KNN model to overcome other traditional models. This proposed model shows significant improvements not less than 20-30% improvement in CPU use, 30-50% reduction in end-to-end delay,

关键词： Decision trees

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Automatic Adjustment of HPA Parameters and Attack Prevention in Kubernetes Using Random Forests 24

Automatic Adjustment of HPA Parameters and Attack Prevention...

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9th International Conference on Cloud Computing and Internet of Things, CCIOT 2024

作者： Chan, Huah Yong Zhou, Hanlin Ni, Jingfei Wu, Mengchun Deng, Qing School of Computer Sciences Universiti Sains Malaysia Pulau Pinang Malaysia Xiamen Institute of Software Technology Xiamen China Department of Manzhouli Customs Manzhouli China College of Information Science and Engineering Jimei University Xiamen China

ISBN: (纸本)9798400717161

In this paper, HTTP status codes are used as custom metrics within the HPA as the experimental scenario. By integrating the Random Forest classification algorithm from machine learning, attacks are assessed and predicted, dynamically adjusting the maximum pod parameter in the HPA to manage attack traffic. This approach enables the adjustment of HPA parameters using machine learning scripts in targeted attack scenarios while effectively managing attack traffic. All access from attacking IPs is redirected to honeypot pods, achieving a lower incidence of 5XX status codes through HPA pod adjustments under high load conditions. This method also ensures effective isolation of attack traffic, preventing excessive HPA expansion due to attacks. Additionally, experiments conducted under various conditions demonstrate the importance of setting appropriate thresholds for HPA adjustments. Copyright © 2024 held by the owner/author(s). Publication rights licensed to ACM.

关键词： Random forests

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A comparative study of deep learning models for early diagnosis of monkeypox and chickenpox

A comparative study of deep learning models for early diagno...

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International Conference on Energy, Power, Environment, Control and Computing (ICEPECC 2025)

作者： Maliha Khalid Muhammad Azam Zia Muhammad Asif Department of Computer Science University of Agriculture Faisalabad Pakistan Department of Computer and Software Engineering Information Technology University (ITU) Lahore Pakistan

ISBN: (数字)9781837243150

Image processing enhances digital images by extracting valuable information and improving clarity through edge recognition, color modification, and filtering techniques. These methods facilitate the creation of training images that enhance the robustness and generalization of neural networks, improving diagnostic efficiency and accuracy. The similar symptoms of chickenpox and monkeypox make early clinical diagnosis difficult, necessitating rapid and precise diagnostic techniques. This study uses deep learning models to tackle the problem of correctly diagnosing chickenpox and monkeypox, facilitating early diagnosis and quick medical intervention for improving public health and epidemic management. Models such as DenseNet121, DenseNet169, DenseNet201, InceptionResNetV2, InceptionV3, MobileNet, MobileNetV2, ResNet50, ResNet101, VGG16, VGG19, and Xception have been used to classify and distinguish conditions. Advanced image processing techniques, including object detection and data normalization, improve model generalization and resilience. Among the others, MobileNet and DenseNet121 achieved highest accuracy rates which is 0.9943 and 0.9914 respectively, while MobileNet offered superior speed. The DenseNet169 model has highest precision and recall which is 0.9958 and f1-score is 0.9956 with an accuracy of 0.9857. The study also demonstrates that DL models are critical in developing robust and effective systems for detecting infectious diseases, aiding in precise and efficient healthcare solutions.

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IoT and Man-in-the-Middle Attacks

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Security and Privacy 2025年第2期8卷

作者： Fereidouni, Hamidreza Fadeitcheva, Olga Zalai, Mehdi Department of Computer Science and Operations Research University of Montreal MontrealQC Canada Department of Computer Engineering and Software Engineering Polytechnique Montreal MontrealQC Canada

This article provides an overview of the Internet of things (IoT) and its growing significance in today's interconnected world. It discusses the concept of man-in-the-middle (MitM) attacks in detail, including their various types, causes, and potential impacts on IoT networks. The article analyzes MitM attacks at different layers of the IoT architecture and explores current prevention techniques and mitigation strategies. It addresses the challenges in detecting and preventing such attacks, particularly in the context of the heterogeneous and resource-constrained nature of IoT devices. The article also examines emerging technologies, such as machine learning and blockchain, for enhancing IoT security. Furthermore, it discusses open issues, including the challenges of prevention, the potential impact of new technologies, and future trends in MitM attacks. By exploring these aspects, the article aims to provide insights into improving detection and prevention mechanisms against MitM attacks in IoT environments. © 2025 The Author(s). Security and Privacy published by John Wiley & Sons Ltd.

关键词： Internet of Things IoT IoT security Man-in-the-Middle MitM MitM detection MitM prevention

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RGB-Based Category-Level Object Pose Estimation via Depth Recovery and Adaptive Refinement

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IEEE Robotics and Automation Letters 2025年第6期10卷 5377-5384页

作者： Yang, Hui Sun, Wei Liu, Jian Zheng, Jin Zeng, Zhiwen Mian, Ajmal Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering Changsha410082 China Hunan University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Changsha410082 China Central South University School of Architecture and Art Changsha410082 China University of Western Australia Department of Computer Science and Software Engineering CrawleyWA6009 Australia

Category-level pose estimation methods have received widespread attention as they can be generalized to intra-class unseen objects. Although RGB-D-based category-level methods have made significant progress, reliance on depth image limits practical application. RGB-based methods offer a more practical and cost-effective solution. However, current RGB-based methods struggle with object geometry perception, leading to inaccurate pose estimation. We propose depth recovery and adaptive refinement for category-level object pose estimation from a single RGB image. We leverage DINOv2 to reconstruct the coarse scene-level depth from the input RGB image and propose an adaptive refinement network based on an encoder-decoder architecture to dynamically improve the predicted coarse depth and reduce its gap from the ground truth. We introduce a 2D–3D consistency loss to ensure correspondence between the point cloud obtained from depth projection and the objects in the 2D image. This consistency supervision enables the model to maintain alignment between the depth image and the point cloud. Finally, we extract features from the refined point cloud and feed them into two confidence-aware rotation regression branches and a translation and size prediction residual branch for end-to-end training. Decoupling the rotation matrix provides a more direct representation, which facilitates parameter optimization and gradient propagation. Extensive experiments on the REAL275 and CAMERA25 datasets demonstrate the superior performance of our method. Real-world estimation and robotic grasping experiments demonstrate our model robustness to occlusion, clutter environments, and low-textured objects. Our code and robotic grasping video are available at DA-Pose. © 2016 IEEE.

关键词： Depth perception

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A Comprehensive Survey on Communication-Efficient Federated Learning in Mobile Edge Environments

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IEEE Communications Surveys and Tutorials 2025年

作者： Jia, Ninghui Qu, Zhihao Ye, Baoliu Wang, Yanyan Hu, Shihong Guo, Song Hohai University Key Laboratory of Water Big Data Technology of Ministry of Water Resources College of Computer Science and Software Engineering Nanjing211100 China Nanjing University State Key Laboratory for Novel Software Technology Department of Computer Science and Technology Nanjing210023 China The Hong Kong University of Science and Technology Department of Computer Science and Engineering Kowloon Hong Kong

In traditional centralized machine learning, transmitting raw data to a cloud center incurs high communication costs and raises privacy concerns. This is particularly challenging in mobile edge environments, where devices are dynamic and resource-constrained. Federated Learning (FL) addresses these issues by allowing devices to train models locally and upload parameters to a central server without sharing local data. However, limited wireless channel resources and dynamic transmission performance make communication overhead a major bottleneck of FL in mobile edge environments. Concerning this challenge, this survey provides a comprehensive summary of methods to improve communication efficiency in FL, focusing on: 1) minimizing communication complexity to reduce total transmission volume, 2) scheduling resources appropriately to improve training efficiency, 3) utilizing over-the-air computation (OTA) to integrate computation into communication for accommodating the computation/communication characteristics of FL in mobile edge environments. Thus, this work analyzes research from the perspective of convergence and data heterogeneity to reduce communication rounds by optimizing algorithm performance. We hope that this survey could offer insights into communication-efficient FL for future research. © 2025 IEEE.

关键词： Federated learning

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Multi-View Incongruity Learning for Multimodal Sarcasm Detection 31

Multi-View Incongruity Learning for Multimodal Sarcasm Detec...

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31st International Conference on Computational Linguistics, COLING 2025

作者： Guo, Diandian Cao, Cong Yuan, Fangfang Liu, Yanbing Zeng, Guangjie Yu, Xiaoyan Peng, Hao Yu, Philip S. Institute of Information Engineering Chinese Academy of Sciences China School of Cyber Security University of Chinese Academy of Sciences China State Key Laboratory of Software Development Environment Beihang University China School of Computer Science and Technology Beijing Institute of Technology China Department of Computer Science University of Illinois Chicago United States

ISBN: (纸本)9798891761964

Multimodal sarcasm detection (MSD) is essential for various downstream tasks. Existing MSD methods tend to rely on spurious correlations. These methods often mistakenly prioritize non-essential features yet still make correct predictions, demonstrating poor generalizability beyond training environments. Regarding this phenomenon, this paper undertakes several initiatives. Firstly, we identify two primary causes that lead to the reliance of spurious correlations. Secondly, we address these challenges by proposing a novel method that integrate Multimodal Incongruities via Contrastive Learning (MICL) for multimodal sarcasm detection. Specifically, we first leverage incongruity to drive multi-view learning from three views: token-patch, entity-object, and sentiment. Then, we introduce extensive data augmentation to mitigate the biased learning of the textual modality. Additionally, we construct a test set, SPMSD, which consists potential spurious correlations to evaluate the the model's generalizability. Experimental results demonstrate the superiority of MICL on benchmark datasets, along with the analyses showcasing MICL's advancement in mitigating the effect of spurious correlation. © 2025 Association for Computational Linguistics.

关键词： Contrastive Learning

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Visual Language Model based Cross-modal Semantic Communication Systems

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IEEE Transactions on Wireless Communications 2025年第5期24卷 3937-3948页

作者： Jiang, Feibo Tang, Chuanguo Dong, Li Wang, Kezhi Yang, Kun Pan, Cunhua Hunan Normal University Hunan Provincial Key Laboratory of Intelligent Computing and Language Information Processing Changsha410081 China Hunan Normal University School of Information Science and Engineering Changsha410081 China Hunan University of Technology and Business School of Computer Science Changsha410205 China Xiangjiang Laboratory Changsha410205 China Brunel University London Department of Computer Science UxbridgeUB8 3PH United Kingdom Nanjing University School of Intelligent Software and Engineering Suzhou215163 China Southeast University National Mobile Communications Research Laboratory Nanjing210096 China

Semantic Communication (SC) has emerged as a novel communication paradigm in recent years. Nevertheless, extant Image Semantic Communication (ISC) systems face several challenges in dynamic environments, including low information density, catastrophic forgetting, and uncertain Signal-to-Noise Ratio (SNR). To address these challenges, we propose a novel Vision-Language Model-based Cross-modal Semantic Communication (VLM-CSC) system. The VLM-CSC comprises three novel components: (1) Cross-modal Knowledge Base (CKB) is used to extract high-density textual semantics from the semantically sparse image at the transmitter and reconstruct the original image based on textual semantics at the receiver. The transmission of high-density semantics contributes to alleviating bandwidth pressure. (2) Memory-assisted Encoder and Decoder (MED) employ a hybrid long/short-term memory mechanism, enabling the semantic encoder and decoder to overcome catastrophic forgetting in dynamic environments when there is a drift in the distribution of semantic features. (3) Noise Attention Module (NAM) employs attention mechanisms to adaptively adjust the semantic coding and the channel coding based on SNR, ensuring the robustness of the CSC system. The experimental simulations validate the effectiveness, adaptability, and robustness of the CSC system. © 2002-2012 IEEE.

关键词： Decoding

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