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Inverse kinematics solution for a six-degree-of-freedom upper limb rehabilitation robot using deep learning models

Neural computing and Applications 2025年 1-19页

作者： Shah, Muhammad Faizan Khan, Naveed Ahmad Jamwal, Prashant K. Chetty, Girija Goecke, Roland Hussain, Shahid School of Information Technology & Systems University of Canberra Canberra Australia Department of Electrical and Computer Engineering Nazarbayev University Astana Kazakhstan School of Systems and Computing University of New South Wales Canberra Australia

The inverse kinematics problem in serially manipulated upper limb rehabilitation robots implies the usage of the end-effector position to obtain the joint rotation angles. In contrast to the forward kinematics, there are no systematic approaches for solving the inverse kinematics problem. Furthermore, for some morphology of the upper limb rehabilitation robots, the inverse kinematics problem is particularly challenging to solve. Conventional methods to solve the inverse kinematics problem reported in the literature are computationally expensive. In the present work, we propose a deep learning-based model to acquire the joint angles for a given end-effector position. The proposed approach exhibits high efficacy in determining the joint angles for various target positions and can accurately predict the end-effector positions once trained, improving the ability of the upper limb rehabilitation robot to adapt to varying patient needs. Due to its improved capability and effectiveness to track positions, the proposed algorithm lays the foundation for the development of efficient controllers in future. © The Author(s) 2025.

关键词： Inverse kinematics

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Aspect-based sentiment analysis in MOOCs: a systematic literature review introducing the MASC-MEF framework

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Journal of King Saud University - Computer and Information Sciences 2025年第1期37卷 1-33页

作者： Awadh, Wed Akeel Sulaiman, Rosnafisah Bte Mahmoud, Moamin A. Institute of Informatics and Computing in Energy University Tenaga Nasional Kajang Malaysia Department of Computer Information Systems University of Basrah Basrah Iraq Institute of Informatics and Computing in Energy Department of Informatics Universiti Tenaga Nasional Jalan IKRAM UNITEN Selangor Kajang Malaysia Institute of Informatics and Computing in Energy Department of Computing College of Computing and Informatics Universiti Tenaga Nasional Selangor Kajang Malaysia

Aspect-based sentiment analysis (ABSA) in massive open online courses (MOOCs) offers a powerful tool to understand student experiences and improve the quality of online education. As MOOCs grow in popularity, there is an increasing need to analyze student feedback at a granular level, focusing on specific course aspects rather than just overall sentiment. Despite ABSA’s potential in MOOCs, research in this specific domain remains limited. Thus, this review of the literature seeks to fill this gap by systematically examining ABSA within the realm of MOOCs. We utilized a PRISMA framework to guide the search process. Consequently, this review covered 57 studies conducted between 2019 and 2024, retrieved from eight electronic research databases. The studies included in this analysis were examined on the basis of their datasets, data preprocessing, ABSA tasks in MOOCs, evaluation aspects in online courses, fusion approach in ABSA, techniques of word representations, and evaluation criteria utilized to evaluate the proposed models. Additionally, this review introduces the multiaspect sentiment classification using multiembedding and fusion (MASC-MEF) framework, a novel approach that uniquely incorporates multiword embeddings and multifeature extraction along with advanced classification techniques. Results shed light on several critical issues and various limitations, pointing towards future directions for ABSA research within the realm of MOOCs. This review underscores significant contributions to improving ABSA in educational technology, with a focus on course effectiveness and advancements in online learning, guiding researchers towards innovative techniques to tackle this challenge in the future. © The Author(s) 2025.

关键词： Aspect-based sentiment analysis Massive open online courses Multiaspect sentiment classification Online education technology Systematic literature review

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Towards an ontology on project portfolio management 16

Towards an ontology on project portfolio management

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16th International Conference on ENTERprise Information systems, CENTERIS 2024 - 12th International Conference on Project MANagement, ProjMAN 2024 - 14th International Conference on Health and Social Care Information systems and Technologies, HCist 2024

作者： Melo, Héctor Avila, Oscar Villamil, María Del Pilar Department of Systems and Computing Engineering School of Engineering Universidad de Los Andes Bogotá Colombia

Project Portfolio Management (PPM) is essential for organizations aiming to align projects with strategic goals. Different organizations adopt diverse PPM frameworks and standards to manage project portfolios each employing its own terminology. This semantic heterogeneity leads to communication barriers, knowledge silos, and difficulty in integrating information across various platforms in an interorganizational context. This article proposes a PPM ontology to establish a common language encapsulating key concept, addressing this challenge. The methodology involves systematic revision of three prominent PPM standards-ISO 21504, PMI Standard for Portfolio Management, and AXELOS Management of Portfolios, and employs a novel algorithm to identify equivalences and containment relationships between terms across all three standards, resolving semantic ambiguities and enriching the ontology's expressiveness. This contribution benefits researchers, academics, portfolio managers, project managers, and PPM practitioners by providing a common vocabulary and framework for understanding and improving PPM practices, facilitates knowledge representation, improves communication and collaboration among stakeholders, and lays the groundwork for developing intelligent PPM systems capable of leveraging shared semantic understanding. © 2025 The Authors.

关键词： Project management

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Comparative Study of Classification Algorithms Using Big Data Analytics for Flight Delays Prediction 5th

Comparative Study of Classification Algorithms Using Big Dat...

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5th Doctoral Symposium on Computational Intelligence, DoSCI 2024

作者： Asiri, Mona Hassan AL-Malaise AL-Ghamdi, Abdullah S. Fayoumi, Ayman G. Ragab, Mahmoud Department of Information Systems Collage of Computing and Information Technology King Abdulaziz University Jeddah Saudi Arabia Information Systems Department School of Engineering Computing and Design Dar Al-Hekma University Jeddah34801 Saudi Arabia Department of Information Systems Faculty of Computing and Information Technology King Abdulaziz University Jeddah21589 Saudi Arabia Information Technology Department Faculty of Computing and Information Technology King Abdulaziz University Jeddah21589 Saudi Arabia

ISBN: (纸本)9789819771776

Flight delays are the most pressing cause of concern in the airline sector because they can weaken and harm airlines, passengers, and airports. Flight delay prediction has become an essential step in decision-making processes within commercial aviation. Due to the developments of recent technologies, there are many prediction models for flight delays;however, more development of accurate prediction models is still needed. Machine learning, statistical models, and other techniques can be used to create quick and accurate flight delay prediction models. Furthermore, methods for feature selection can be developed to get rid of dimensionality issues. This study aimed to compare four classification algorithms using "big data analytics" to predict flight delays, a function that can improve the whole airline sector. The selected classification algorithms were the "Gaussian Naïve Bayes," "Gradient Boosted Tree" classifier, "Logistic Regression," and "Random Forest" classifier. Many assessment techniques were applied to each one of the suggested models to show the better performance of these models. The comparison used the resulting confusion matrix to summarize prediction results for the following classification problems: "F1 Score", "Accuracy," "Recall," "Precision," "Area Under ROC," and "Area Under PR." The assessment results showed the enhanced outcomes of the "Gradient Boosted Tree" Classifier with existing techniques, and all results of "Logistic Regression" and "Naïve Bayes" are equal. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Prediction models

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Classification of human-written and AI-generated sentences using a hybrid CNN-GRU model optimized by the spotted hyena algorithm

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Alexandria Engineering Journal 2025年 126卷 116-130页

作者： Ragab, Mahmoud Ashary, Ehab Bahaudien Kateb, Faris Hakeem, Abeer Mosli, Rayan Albogami, Nasser N. Nooh, Sameer Information Technology Department Faculty of Computing and Information Technology King Abdulaziz University Jeddah21589 Saudi Arabia Electrical and Computer Engineering Department Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia Information Systems Department Faculty of Computing and Information Technology King Abdulaziz University Jeddah21589 Saudi Arabia

The rapid advancement of artificial intelligence (AI) in generating human-like text poses significant challenges in distinguishing between human-written and AI-generated content. Recent advancements in natural language generation have significantly enhanced the quality and variety of AI-generated text, making it almost indistinguishable from human-written content. ChatGPT, a popular AI model, belongs to the generative pre-trained transformer family. While human content is created with a clear intent to convey meaning, AI-generated text aims to replicate human-like language. Classifying human-written and AI-generated sentences is crucial for addressing issues like fake news, plagiarism, and spamming. AI text often follows repetitive patterns, while human writing is more creative and original, making detection significant for combating misinformation. Therefore, this study proposes to classify human-written and AI-generated sentences using a hybrid CNN-GRU model optimized by the Spotted Hyena Algorithm (CHWAIG-DLSHO) approach. The approach involves preprocessing text data through tokenization, lemmatization, and data splitting, followed by word embedding using Latent Dirichlet Allocation (LDA). A hybrid convolutional neural network (CNN) and gated recurrent unit (GRU) model is employed for sentence classification. The spotted hyena optimizer (SHO) model is utilized to fine-tune the hyperparameters of the CNN-GRU model, enhancing its performance. The analysis of the CHWAIG-DLSHO method takes place utilizing AI vs. human text dataset. The performance validation of the CHWAIG-DLSHO method portrayed a superior accuracy value of 99.17 % over existing techniques. © 2025 The Authors

关键词： Convolutional neural networks

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Pyramid: Accelerating LLM Inference With Cross-Level Processing-in-Memory

IEEE Computer Architecture Letters

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IEEE Computer Architecture Letters 2025年第1期24卷 121-124页

作者： Yan, Liang Lu, Xiaoyang Chen, Xiaoming Han, Yinhe Sun, Xian-He Chinese Academy of Sciences Intelligent Computing Systems Institute of Computing Technology Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Illinois Institute of Technology Department of Compute Science ChicagoIL60616 United States

Integrating processing-in-memory (PIM) with GPUs accelerates large language model (LLM) inference, but existing GPU-PIM systems encounter several challenges. While GPUs excel in large general matrix-matrix multiplications (GEMM), they struggle with small-scale operations better suited for PIM, which currently cannot handle them independently. Additionally, the computational demands of activation operations exceed the capabilities of current PIM technologies, leading to excessive data movement between the GPU and memory. PIM's potential for general matrix-vector multiplications (GEMV) is also limited by insufficient support for fine-grained parallelism. To address these issues, we propose Pyramid, a novel GPU-PIM system that optimizes PIM for LLM inference by strategically allocating cross-level computational resources within PIM to meet diverse needs and leveraging the strengths of both technologies. Evaluation results demonstrate that Pyramid outperforms existing systems like NeuPIM, AiM, and AttAcc by factors of 2.31×, 1.91×, and 1.72×, respectively. © 2002-2011 IEEE.

关键词： Graphics processing unit

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Advancing Air Quality Monitoring: TinyML-Based Real-Time Ozone Prediction with Cost-Effective Edge Devices 2nd

Advancing Air Quality Monitoring: TinyML-Based Real-Time Ozo...

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2nd International Conference on Intelligent Manufacturing and Robotics, ICIMR 2024

作者： Ken, Huam Ming Behjati, Mehran Rafsanjani, Ahmad Sahban Aslam, Saad Meng, Yap Kian Majeed, Anwar P. P. Abdul Zheng, Yufan Department of Computing and Information Systems School of Engineering and Technology Sunway University Selangor Bandar Sunway47500 Malaysia Department of Computing and Information Systems School of Engineering and Technology Sunway University Selangor Bandar Sunway47500 Malaysia Suzhou Taicang215400 China

ISBN: (纸本)9789819639489

The escalation of urban air pollution necessitates innovative solutions for real-time air quality monitoring and prediction. This paper introduces a novel TinyML-based system designed to predict ozone concentration in real-time. The system employs an Arduino Nano 33 BLE Sense microcontroller equipped with an MQ7 sensor for carbon monoxide (CO) detection and built-in sensors for temperature and pressure measurements. The data, sourced from a Kaggle dataset on air quality parameters from India, underwent thorough cleaning and preprocessing. Model training and evaluation were performed using Edge Impulse, considering various combinations of input parameters (CO, temperature, and pressure). The optimal model, incorporating all three variables, achieved a mean squared error (MSE) of 0.03 and an R-squared value of 0.95, indicating high predictive accuracy. The regression model was deployed on the microcontroller via the Arduino IDE, showcasing robust real-time performance. Sensitivity analysis identified CO levels as the most critical predictor of ozone concentration, followed by pressure and temperature. The system’s low-cost and low-power design makes it suitable for widespread implementation, particularly in resource-constrained settings. This TinyML approach provides precise real-time predictions of ozone levels, enabling prompt responses to pollution events and enhancing public health protection. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Air quality

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Interactive Video Search with Multi-modal LLM Video Captioning 31st

Interactive Video Search with Multi-modal LLM Video Captioni...

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31st International Conference on Multimedia Modeling, MMM 2025

作者： Cheng, Yu-Tong Wu, Jiaxin Ma, Zhixin He, Jiangshan Wei, Xiao-Yong Ngo, Chong-Wah School of Computing and Information Systems Singapore Management University Singapore Singapore Department of Computing The Hong Kong Polytechnic University Kowloon China Sichuan University Chengdu China

ISBN: (纸本)9789819620739

Cross-modal representation learning is essential for interactive text-to-video search tasks. However, the representation learning is limited by the size and quality of video-caption pairs. To improve the search accuracy, we propose to enlarge the size of available video-caption pairs by leveraging multi-model LLM on video captioning. Specifically, we use LLM to generate video captions for a large video collection (i.e., WebVid dataset) and use the generated video-caption pairs to pre-train a text-to-video search model. Additionally, we use LLM to generate fine-grained captions for test video collections to enable text-to-caption retrieval. Furthermore, we build a semantic overview of the retrieved rank list based on the detailed captions in our interactive video retrieval system which act as hints for user to refine their query. Experimental results show that the generated captions are effective in improving the search accuracy of both AVS and T-KIS tasks on the TRECVid datasets. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Semantics

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Optimizing Document Classification Using Modified Relative Discrimination Criterion and RSS-ELM Techniques

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International Journal of Advanced Computer Science and Applications 2025年第4期16卷 824-833页

作者： Anwaar, Muhammad Gilanie, Ghulam Namoun, Abdallah Sharif, Wareesa Department of Artificial Intelligence-Faculty of Computing The Islamia University of Bahawalpur Bahawalpur Pakistan AI Center-Faculty of Computer and Information Systems Islamic University of Madinah Madinah42351 Saudi Arabia

Internet content is increasing daily, and more data are being digitized due to technological advancements. Everincreasing textual data in words, phrases, terms, sentences, and paragraphs pose significant challenges in classifying them effectively and require sophisticated techniques to arrange them automatically. The vast amount of textual data presents an opportunity to organise and extract valuable insights by identifying crucial pieces of information using feature selection techniques. Our article proposes "a Modified Relative Discrimination Criterion (MRDC) Technique and Ringed Seal Search-Extreme Learning Machine (RSS-ELM) to improve document classification", which prioritizes key data and fits corresponding documents into appropriate classes. The proposed MRDC and RSS-ELM techniques are compared with several existing techniques, such as the Relative Discrimination Criterion (RDC), the Improved Relative Discrimination Criterion (IRDC), GA-EM, and CS-ELM. The MRDC technique produced superior classification results with 91.60% accuracy compared to existing RDC and IRDC for feature selection. Moreover, the RSS-ELM optimization technique improved predictions significantly, with 98.9% accuracy compared to CS-ELM and GA-ELM on the Reuter21578 dataset. © (2025), (Science and Information Organization). All rights reserved.

关键词： Dynamic programming

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Abnormal event detection in surveillance videos through LSTM auto-encoding and local minima assistance

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Discover Internet of Things 2025年第1期5卷 1-25页

作者： Sengonul, Erkan Samet, Refik Abu Al-Haija, Qasem Alqahtani, Ali Alsemmeari, Rayan A. Alghamdi, Bandar Alturki, Badraddin Alsulami, Abdulaziz A. Department of Computer Engineering Ankara University Ankara06100 Turkey Department of Cybersecurity Faculty of Computer & Information Technology Jordan University of Science and Technology PO Box 3030 Irbid22110 Jordan Department of Networks & Communications Engineering College of Computer Science & Information Systems Najran University Najran61441 Saudi Arabia Department of Information Technology Faculty of Computing and Information Technology King Abdulaziz University Jeddah21589 Saudi Arabia Department of Information Systems Faculty of Computing and Information Technology King Abdulaziz University Jeddah21589 Saudi Arabia

Abnormal event detection in video surveillance is critical for security, traffic management, and industrial monitoring applications. This paper introduces an innovative methodology for anomaly detection in video data, encompassing three primary stages: preprocessing, feature learning, and anomaly detection. We employ background subtraction and noise reduction during preprocessing to refine the data. The feature-learning stage involves training an LSTM autoencoder to capture the essential features of normal video sequences. For anomaly detection, we map video data to a lower-dimensional space (latent code) and compare it against the distribution of codes from normal sequences. We determine regularity scores and identify local minima points exceeding a specified threshold while scrutinizing shadows between adjacent maxima to confirm and pinpoint anomalies. When tested on the CUHK Avenue and UMN datasets, our methodology demonstrated performance with AUCs of 93.8% and 94.1%, respectively, outperforming several baseline models. Our results show the high precision of our method that can detect anomalies, highlighting its potential advantages that it can achieve for enhancing systems of surveillance. © The Author(s) 2025.

关键词： Noise abatement

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