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Machine Learning for Unmanned Aerial Vehicles Navigation: An Overview

SN computer Science 2024年第2期5卷 256页

作者： Fagundes-Junior, Leonardo A. de Carvalho, Kevin B. Ferreira, Ricardo S. Brandão, Alexandre S. Núcleo de Especialização em Robótica Department of Electrical Engineering Graduate Program in Computer Science Federal University of Viçosa-UFV Av. Petter Henry Rolfs MG Viçosa 36570-900 Brazil

Unmanned aerial vehicles (UAVs) are a valuable source of data for a wide range of real-time applications, due to their functionality, availability, adaptability, and maneuverability. Working as mobile sensors, they can provide a cost-effective solution for extremely complex tasks, such as inspection, air-to-ground communications, search and rescue, surveillance, among others. Nevertheless, the robots needs to navigate in quite distinct environments and in different dynamism levels, usually facing unpredicted situations, very often using limited sensing and computing capabilities. A large number of solutions to this problem has been featured by the scientific community in the last years, some of them based on machine-learning (ML) methods. Due to its great capability to deal with big data and complexity, as well as its speedy and high-accuracy processing, the ML framework has been used to improve existing technologies and control techniques. In this context, its adoption in several UAV navigation strategies is expected to provide solutions for various problems where UAVs are used in real-time applications. Thus, in order to contextualize the most recent advances, this work provides a detailed survey of relevant researches in which ML techniques have been used in UAV navigation to improve some functional aspects, such as energy-efficiency, communication, execution time, resource management, obstacle avoidance, and path planning. © The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd 2024.

关键词： Autonomous navigation Path planning UAV-based solutions Visual-based navigation

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A Performance Study of Selected Machine Learning Techniques for Predicting Heart Diseases 2nd

A Performance Study of Selected Machine Learning Techniques ...

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2nd International Conference on Security and Information Technologies with AI, Internet Computing and Big-data Applications, SITAIBA 2023

作者： Olorunfemi, Blessing Oluwatobi Ogunde, Adewale Opeoluwa Adeniyi, Abidemi Emmanuel Awotunde, Joseph Bamidele Imoize, Agbotiname Lucky Li, Chun-Ta Faculty of Natural Sciences Department of Computer Science Redeemer’s University Osun Nigeria Department of Computer Science Bowen University Iwo Nigeria Faculty of Information and Communication Sciences Department of Computer Science University of Ilorin Ilorin240003 Nigeria Faculty of Engineering Department of Electrical and Electronics Engineering University of Lagos Lagos Akoka100213 Nigeria Bachelor’s Program of Artificial Intelligence and Information Security Fu Jen Catholic University New Taipei City24206 Taiwan

ISBN: (纸本)9789819777853

Heart Disease remains a leading cause of mortality worldwide. It alarmingly rises at a quick rate, making early heart disease prediction crucial for effective prevention and timely intervention. Heart disease diagnosis is a difficult process that requires technical skills and accuracy to complete. With improvements in technology, computing has lent its voice to simplify the diagnosis of various health problems. Machine learning uses past or existing history to predict future results. Various machine learning techniques have been developed over the years and used in predicting heart diseases with various levels of performance. Identifying the best-suited machine learning technique to use for prediction purposes can be a challenging task. This research work analyses the performance of seven (7) machine learning techniques, comprising AdaBoost Algorithm, KNN, Logistic Regression, Naïve Bayes Classifier, Random Forest, SVM, and XGBoost. The heart disease dataset was downloaded from the UCI repository and analysed using Python programming language in the Jupyter Notebook environment. A comparative analysis of the seven (7) techniques was performed based on Accuracy, Precision, and Recall. From the results obtained, KNN, Random Forest, and XGBoost showed superior performance over the others with an accuracy of 100%, AdaBoost Algorithm followed with an accuracy of 92.2%, SVM followed with an accuracy of 91.71%, Naïve Bayes Classifier followed with an accuracy of 88.29% while Logistic Regression has the least accuracy of 86.34%. KNN, RF, and XGBoost outperformed AdaBoost, SVN, and LR. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Adversarial machine learning

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Unsupervised homography estimation on multimodal image pair via alternating optimization 24

Unsupervised homography estimation on multimodal image pair ...

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Proceedings of the 38th International Conference on Neural Information Processing Systems

作者： Sanghyeob Song Jaihyun Lew Hyemi Jang Sungroh Yoon Interdisciplinary Program in Artificial Intelligence Seoul National University and Samsung Electro-Mechanics Interdisciplinary Program in Artificial Intelligence Seoul National University Department of Electrical and Computer Engineering Seoul National University Interdisciplinary Program in Artificial Intelligence Seoul National University and Department of Electrical and Computer Engineering Seoul National University

ISBN: (纸本)9798331314385

Estimating the homography between two images is crucial for mid- or high-level vision tasks, such as image stitching and fusion. However, using supervised learning methods is often challenging or costly due to the difficulty of collecting ground-truth data. In response, unsupervised learning approaches have emerged. Most early methods, though, assume that the given image pairs are from the same camera or have minor lighting differences. Consequently, while these methods perform effectively under such conditions, they generally fail when input image pairs come from different domains, referred to as multimodal image *** address these limitations, we propose AltO, an unsupervised learning framework for estimating homography in multimodal image pairs. Our method employs a two-phase alternating optimization framework, similar to Expectation-Maximization (EM), where one phase reduces the geometry gap and the other addresses the modality gap. To handle these gaps, we use Barlow Twins loss for the modality gap and propose an extended version, Geometry Barlow Twins, for the geometry gap. As a result, we demonstrate that our method, AltO, can be trained on multimodal datasets without any ground-truth data. It not only outperforms other unsupervised methods but is also compatible with various architectures of homography estimators. The source code can be found at: https://***/songsang7/AltO

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AV Navigation in 3D Urban Environments with Curriculum-based Deep Reinforcement Learning

AV Navigation in 3D Urban Environments with Curriculum-based...

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2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023

作者： Braathen De Carvalho, Kevin De Oliveira, Iure Rosa L. Brandao, Alexandre S. Universidade Federal de Viçosa Nucleus of Specialization in Robotics Department of Electrical Engineering Graduate Program in Computer Science MG Viçosa36570-900 Brazil Federal University of Viçosa Department of Electrical Engineering MG Viçosa Brazil

ISBN: (纸本)9798350310375

Unmanned Aerial Vehicles (UAVs) are widely used in various applications, from inspection and surveillance to transportation and delivery. Navigating UAVs in complex 3D environments is a challenging task that requires robust and efficient decision-making algorithms. This paper presents a novel approach to UAV navigation in 3D environments using a Curriculum-based Deep Reinforcement Learning (DRL) approach. The proposed method utilizes a deep neural network to model the UAV's decision-making process and to learn a mapping from the state space to the action space. The learning process is guided by a reinforcement signal that reflects the performance of the UAV in terms of reaching its target while avoiding obstacles and with energy efficiency. Simulation results show that the proposed method has a positive trade off when compared to the baseline algorithm. The proposed method was able to perform well in environments with a state space size of 22 millions, allowing the usage in big environments or in maps with high resolution. The results demonstrate the potential of DRL for enabling UAVs to operate effectively in complex environments. © 2023 IEEE.

关键词： Reinforcement learning

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SoC-Oriented Implementation of Machine Learning Based Breast Cancer Classification Algorithm 12

SoC-Oriented Implementation of Machine Learning Based Breast...

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12th Mediterranean Conference on Embedded Computing, MECO 2023

作者： Saeed, Abdelrahman Tawfik, Ayman Mostafa, Hassan Khalil, Ahmed Hussein Cairo University Electronics and Communications Engineering Department Giza12613 Egypt Ajman University Department of Electrical and Computer Engineering United Arab Emirates University of Science and Technology Nanotechnology and Nanoelectronics Program Zewail City of Science and Technology Giza Egypt

ISBN: (纸本)9798350322910

Convolutional Neural Networks (CNN) have drawn the attention of researchers in the medical imaging field. Many researchers have exploited CNN for breast cancer detection. This study provides an Internet of Things (IoT) friendly implementation of CNN for breast cancer detection. To achieve faster time to Market, Deep-learning Processing Unit (DPU) on Field programmable Gate Array (FPGA) is adopted for the CNN hardware implementation. CNN inference on the proposed system achieves a 1.6x speed-up factor and 91.5% reduction in energy consumption compared to the conventional general-purpose multi-core Central Processing Unit (CPU). © 2023 IEEE.

关键词： Convolutional neural networks

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10-point connector formed by two snap buttons

10-point connector formed by two snap buttons

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2024 IEEE International Conference on Consumer Electronics, ICCE 2024

作者： Yang, Chang-Ming Wu, Shu-Cing Kao, Rally Liao, Kuo-Cheng Wu, Ze-We Chen, Shih-Hung Chen, Chi-Chun Ming Young Biomedical Corp Miaoli Taiwan National Chin-Yi University of Technology Program Prospective Technology of Electrical Engineering and Computer Science Taichung Taiwan Bonanza Biotechnology Co.Ltd National Chin-Yi University of Technology Dept. of Computer Science and Information Engineering Taichung Taiwan National Chin-Yi University of Technology Dept. of Electronic Engineering Taichung Taiwan

ISBN: (纸本)9798350324136

With the rapid advancement of electronic textiles, the design and integration of connectors have emerged as pivotal challenges. This study emphasizes the development of a connection solution that amalgamates miniaturization, efficiency, and reliability, specifically tailored for Flexible Conductive Silicone Circuits. A diversified connection scheme is proposed, incorporating elements such as snaps, Pogo pins, and conductive hook-and-loop fasteners, thereby achieving an innovative and pragmatic design. Through meticulous manufacturing processes, including the utilization of hot-melt adhesive, PET films, conductive fabric, and other multilayer materials, a connection system with low impedance and commendable conductivity was successfully engineered. Impedance test outcomes have indicated that the resistance at each connection point is less than 0.7 ohms, substantiating its superior electrical properties. In terms of assembly, this research demonstrates the precise interconnection of the controller and conductive fabric circuit, ensured by metal pin technology, leading to connection stability. This solution not only furnishes appropriate connection technology for specific application scenarios but also opens new avenues and directions for connection design within the domain of electronic textiles. © 2024 IEEE.

关键词： Connectors E-Textiles Flexible Conductive Silicone Circuit PET films

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Robust Feature engineering Techniques for Designing Motor Imagery-Based Bci Systems

SSRN

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SSRN 2025年

作者： Gardezi Ahmed, Syed Saim Khan, Mahnoor Bukhari, Syeda Muneeba Khan, Rizwan Ahmed Jawed, Soyiba Department of Biomedical Engineering Faculty of Engineering Salim Habib University Karachi Pakistan Department of Computer Software Engineering College of Electrical and Mechanical Engineering NUST Islamabad Pakistan Department of Physics Faculty of Applied Sciences Riphah International University Islamabad Pakistan Department of Biomedical Engineering Faculty of Engineering NED University Karachi Pakistan Department of Computer Science Faculty of Information Technology Salim Habib University Karachi Pakistan

A multitude of individuals across the globe grapple with motor disabilities. Neural prosthetics utilizing Brain-computer Interface (BCI) technology exhibit promise for improving motor rehabilitation outcomes. The intricate nature of EEG data poses a significant hurdle for current BCI systems. Recently, a qualitative repository of EEG signals tied to both upper and lower limb execution of motor and motor imagery tasks has been unveiled. Despite this, the productivity of the Machine Learning (ML) Models that were trained on this dataset was alarmingly deficient, and the evaluation framework seemed insufficient. To enhance outcomes, robust feature engineering (signal processing) methodologies are implemented. A collection of time domain, frequency domain, and wavelet-derived features was obtained from 16-channel EEG signals, and the Maximum Relevance Minimum Redundancy (MRMR) approach was employed to identify the four most significant features. For classification K Nearest Neighbors, Support Vector Machine, Decision Tree, and Naive Bayes models were implemented with these selected features, evaluating their effectiveness through metrics such as testing accuracy, precision, recall, and F1 Score. By leveraging SVM with a Gaussian Kernel, a remarkable maximum testing accuracy of 92.50% for motor activities and 95.48% for imagery activities is achieved. These results are notably more dependable and gratifying compared to the previous study, where the peak accuracy was recorded at 74.36%. This research work provide an in-depth analysis of the MI Limb EEG dataset and it will help in designing and developing simple, cost-effective and reliable BCI systems for neuro-rehabilitation. © 2025, The Authors. All rights reserved.

关键词： Image enhancement

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electrical Characteristic and Power Fluctuations of GAA Si NS CFETs by Simultaneously Considering Six Process Variation Factors

IEEE Open Journal of Nanotechnology

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IEEE Open Journal of Nanotechnology 2023年 4卷 229-238页

作者： Kola, Sekhar Reddy Li, Yiming National Yang Ming Chiao Tung University Parallel and Scientific Computing Laboratory Electrical Engineering and Computer Science International Graduate Program Hsinchu300093 Taiwan Parallel and Scientific Computing Laboratory National Yang Ming Chiao Tung University Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Institute of Communications Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Institute of Biomedical Engineering Hsinchu300093 Taiwan National Yang Ming Chiao Tung University Department of Electronics and Electrical Engineering Hsinchu300093 Taiwan

Characteristic variability induced by process variation effect (PVE) is one of technological challenges in semiconductor industry. In this work, we computationally study electrical characteristic and power fluctuations induced by six factors of PVE of the gate-all-around (GAA) silicon (Si) nanosheet (NS) complementary field-effect-transistors (CFETs) which are formed by vertically stacking n-FET on top of p-FET. Among the six factors, NS thickness (TNS), NS width (WNS), and gate length (LG) are identified as crucial factors contributing to large variations in device characteristics. The p-FET exhibits substantial off-state current fluctuation (about 151%) due to the bottom parasitic channel leakages. Compared with the magnitudes of dynamic and short circuit powers, the static power is marginal, but it possesses the largest fluctuation (up to 148%). If we assume that each factor of PVE has the same probability distribution as the others and all are mutually independent, the statistical sum of their power fluctuations will exhibit more than 50% overestimations, compared with the results when all factors are considered simultaneously. © 2020 IEEE.

关键词： III-V semiconductors

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The Implementation of TOGAF for Enterprise System Planning on XYZ Campus

The Implementation of TOGAF for Enterprise System Planning o...

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2023 International Conference on Networking, electrical engineering, computer Science, and Technology, IConNECT 2023

作者： Sirait, Tamsir Hasudungan Lumban Gaol, Ford Supangkat, Suhono Harso Ranti, Benny Bina Nusantara University Binus Graduate Program Computer Science Jakarta Indonesia Bina Nusantara University Computer Science Department Jakarta Indonesia Bandung Institute of Technology School of Electrical Engineering and Informatics Bandung Indonesia Universitas Indonesia Computer Science Department Jakarta Indonesia

ISBN: (纸本)9798350331172

Universities can employ information technology as one means of achieving their goals and objectives. Universities can get advantages from information technology, such as effective resource management and information management for decision-making. However, don't forget that the campus must consider what technology is appropriate to assist them achieve their goals, particularly in the current industrial era 4.0 where technology is available with many different choices. The campus requires an enterprise architecture in order to design, manage, and coordinate information technology infrastructure, applications, and processes strategically and thoroughly. The adoption of enterprise information system architecture (EA) is also intended to improve the quality of services provided to internal and external stakeholders. In this case, Enterprise Architecture can help an organization to match its information technology resources with business processes and strategies to achieve their goals. This research was conducted using TOGAF ADM, also known as the Open Group Architecture Framework Architecture Development Method. This method offers best practices for creating enterprise architecture and emphasizes several steps that include creating an architectural vision, information systems, business architecture modeling to help XYZ campus manage all their information technology. © 2023 IEEE.

关键词： Information management

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Performance of MIMO Visible Light Communication Under Consideration of Recommended Illumination Levels

Performance of MIMO Visible Light Communication Under Consid...

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Optics and Photonics Conference (SBFoton IOPC), SBFoton International

作者： David Esteban Farfán-Guillén Alexandre De Almeida Prado Pohl Graduate Program in Electrical and Computer Engineering (CPGEI) Federal University Technology-Parana Curitiba Brazil

This work compares illumination and communication performance of 2 × 2, 3 × 2 and 4 × 2 MIMO-OFDM VLC links. Results show that not every configuration complies with the recommended illumination levels (... 详细信息

ISBN: (数字)9798350388176

ISBN: (纸本)9798350388183

关键词： Spatial diversity Lighting Optics MIMO Robustness Photodetectors Indoor environment Antennas Visible light communication Photonics

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