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IEEE International Conference on Robotics and Automation (ICRA)

作者： Niels Dehio Joshua Smith Dennis Leroy Wigand Guiyang Xin Hsiu-Chin Lin Jochen J. Steil Michael Mistry Research Institute for Robotics and Process Control (IRP) Technical University Braunschweig Germany School of Informatics University of Edinburgh United Kingdom Faculty of Technology Bielefeld University Germany School of Mechanical and Electrical Engineering Central South University China

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics Control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.

关键词： Grasping Dynamics Task analysis Jacobian matrices Manipulator dynamics

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EVALUATION OF DIFFERENT REGULARIZATION METHODS FOR THE EXTREME LEARNING MACHINE APPLIED TO HYPERSPECTRAL IMAGES

EVALUATION OF DIFFERENT REGULARIZATION METHODS FOR THE EXTRE...

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IEEE International Geoscience and Remote Sensing Symposium

作者： Juan M. Haut Yi Liu Mercedes E. Paoletti Xiong Xu Javier Plaza Antonio Plaza Department of Technology of Computers and Communications University of Extremadura Cáceres Spain Faculty of Information Technology and Electrical Engineering Norwegian University of Science and Technology Trondheim Norway College of Surveying and Geo-Informatics Tongji University Shanghai PR China

During recent years, many regularization techniques have been proposed to deal with ill-posed problems related to hyperspectral image classification, in which the limited number of training samples contrasts with the very high spectral dimensionality. However, the intrinsic structure of a hyperspectral image often depends on the specific scene and spectrometer, although regularizers like Ridge, LASSO, etc, have been widely used in practical applications. Instead of imposing these regularizers to the probabilistic output of a classifier, this work evaluates the use of extreme learning machines (ELM) with output weights of a single-hidden layer feed-forward neural network (SLFN) regularized with Ridge and LASSO priors, respectively. Experimental results with several real hyperspectral images are conducted to compare the performance and adaptation of these two regularizers with the the original ELM in classification scenarios.

关键词： Hyperspectral imaging Training Neural networks Kernel Standards Mathematical model

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Evolving Bent Quaternary Functions

Evolving Bent Quaternary Functions

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Congress on Evolutionary Computation

作者： Stjepan Picek Karlo Knezevic Luca Mariot Domagoj Jakobovic Alberto Leporati Cyber Security Research Group Delft University of Technology Delft The Netherlands Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Informatics Systems and Communication Università degli Studi di Milano-Bicocca Milano Italy

Boolean functions have a prominent role in many real-world applications, which makes them a very active research domain. Throughout the years, various heuristic techniques proved to be an attractive choice for the construction of Boolean functions with different properties. One of the most important properties is nonlinearity, and in particular maximally nonlinear Boolean functions are also called bent functions. In this paper, instead of considering Boolean functions, we experiment with quaternary functions. The corresponding problem is much more difficult and presents an interesting benchmark as well as realworld applications. The results we obtain show that evolutionary metaheuristics, especially genetic programming, succeed in finding quaternary functions with the desired properties. The obtained results in the quaternary domain can also be translated into the binary domain, in which case this approach compares favorably with the state-of-the-art in Boolean optimization. Our techniques are able to find quaternary bent functions for up to 8 inputs, which corresponds to obtaining Boolean bent functions of 16 inputs.

关键词： Evolutionary computation

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Potentiality of petrochemical wastewater as substrate in microbial fuel cell

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IOP Conference Series: Materials Science and engineering 2020年第3期736卷

作者： Sumaya Sarmin Asmida Binti Ideris Baranitharan Ethiraj M Amirul Islam Chin Sim Yee Md. Maksudur Rahman Khan Faculty of Chemical & Natural Resources Engineering Centre of Excellence for Advanced Research in Fluid Flow (CARIFF) Universiti Malaysia Pahang 26300 Gambang Pahang Malaysia Department of Biotechnology Saveetha School of Engineering Chennai India Interdisciplinary Institute for Technological Innovation (3IT) CNRS UMI-3463Laboratory for Quantum Semiconductors and Photon-based Bio Nanotechnology Department of Electrical and Computer Engineering Université de Sherbrooke 3000 boul. de l'Université Sherbrooke Québec J1K 0A5 Canada

The petrochemical wastewater (PCW) from acrylic acid plant possesses very high chemical oxygen demand (COD) due to presence of acrylic acid along with other organic acids. The treatment of PCW by conventional methods is energy intensive. The treatment of PCW with concurrent power generation by employing microbial fuel cell (MFC) could be a potential alternative solving the problem of energy and environment. The goal of the present paper is to evaluate the viability of treating the wastewater using anaerobic sludge as biocatalyst in a dual- chamber MFC for simultaneous power generation and wastewater treatment. This study demonstrates that anaerobic sludge (AS) could work as a biocatalyst producing maximum power density of 0.75 W/m3at current density and open circuit voltage (OCV) of 412 mA/m2 and 0.45 V respectively using PCW with an initial COD of 45,000 mg/L. The COD removal efficiency and the columbic efficiency (CE) were found 40% and 13.11%, respectively. The mechanism of electron transfer in the anode was analyzed by cyclic voltammetry (CV) and the resistances across the electrode/biofilm/solution interface were investigated by employing impedance spectroscopy (EIS). The current work proves the capability of the MFC for the treatment of acrylic acid plant PCW using anaerobic sludge (AS) as biocatalyst.

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Retracted: Implementation Method CUSUM to Determine the Accident Prone Areas in Web Based

Retracted: Implementation Method CUSUM to Determine the Acci...

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2018 Workshop on Multidisciplinary and Its Applications: Applied Mathematics, Computer Science, Information Systems, and Information Technology, WMA-Mathcomtech 2018

作者： Dinata, Rozzi Kesuma Abdullah, Dahlan Hartono, H. Erliana, Cut Ita Riasti, Berliana Kusuma Iskandar, Akbar Sari, Ifit Novita Nurmawati, N. Nanuru, Ricardo Freedom Putri, Lusi Dwi Manurung, Rosida Tiurma Sriadhi, S. Saleh, A.A. Astari, T. Khaddafi, Muammar Department of Informatics Universitas Malikussaleh Aceh Indonesia Department of Computer Science STMIK IBBI Medan Indonesia Department of Industrial Engineering Universitas Malikussaleh Aceh Indonesia Department of Informatics Universitas Sebelas Maret Surakarta Indonesia Department of Informatics STMIK AKBA Makassar Indonesia Departement Of: Social Science Education Program Post Graduate Program Universitas Kanjuruhan Malang Malang Indonesia Faculty of Industry Technique University of 45 Surabaya Indonesia Universitas Kristen Indonesia Maluku Ambon Indonesia Department of Civil Engineering Universitas Lancang Kuning Pekanbaru Indonesia Graduate Program in Scientific Psychology Universitas Kristen Maranatha Indonesia Department of Electrical Engineering Universitas Negeri Medan Indonesia Statistics Financial and Social Sciences Research Group Indonesia Department of Elementary School Teacher Education STKIP Citra Bangsa Aceh Utara Indonesia Department of Accounting Universitas Malikussaleh Aceh Indonesia

At the Unit Laka Lantas Polres Lhokseumawe determining accident-prone areas on roads in Lhokseumawe still using manual systems. Determination of accident-prone areas are less effective because the police Unit Laka Lantas Polres Lhokseumawe just using the data of the last year and had to repeatedly calculate manually accident-prone areas based on the number of human casualties. In this study the system implementation CUSUM method (Cummulative Summary) to determine the accident-prone areas designed using the web-based programming language PHP. In this system there are three processes to determine areas prone to accidents, the accident rate calculations based on the weighted severity, blacksite calculations using the Z-Score method for determining areas prone to accident blackspots and calculations using the CUSUM method to determine the critical points of an accident. The data used are secondary data obtained from the Police Unit Laka Lantas Polres Lhokseumawe years 2009-2013. © Published under licence by IOP Publishing Ltd.

关键词： Accidents

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First Measurement of Antideuteron Number Fluctuations at Energies Available at the Large Hadron Collider

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Physical Review Letters 2023年第4期131卷 041901-041901页

作者： S. Acharya D. Adamová A. Adler G. Aglieri Rinella M. Agnello N. Agrawal Z. Ahammed S. Ahmad S. U. Ahn I. Ahuja A. Akindinov M. Al-Turany D. Aleksandrov B. Alessandro H. M. Alfanda R. Alfaro Molina B. Ali Y. Ali A. Alici N. Alizadehvandchali A. Alkin J. Alme G. Alocco T. Alt I. Altsybeev M. N. Anaam C. Andrei A. Andronic V. Anguelov F. Antinori P. Antonioli C. Anuj N. Apadula L. Aphecetche H. Appelshäuser S. Arcelli R. Arnaldi I. C. Arsene M. Arslandok A. Augustinus R. Averbeck S. Aziz M. D. Azmi A. Badalà Y. W. Baek X. Bai R. Bailhache Y. Bailung R. Bala A. Balbino A. Baldisseri B. Balis D. Banerjee Z. Banoo R. Barbera L. Barioglio M. Barlou G. G. Barnaföldi L. S. Barnby V. Barret L. Barreto C. Bartels K. Barth E. Bartsch F. Baruffaldi N. Bastid S. Basu G. Batigne D. Battistini B. Batyunya D. Bauri J. L. Bazo Alba I. G. Bearden C. Beattie P. Becht D. Behera I. Belikov A. D. C. Bell Hechavarria R. Bellwied S. Belokurova V. Belyaev G. Bencedi S. Beole A. Bercuci Y. Berdnikov A. Berdnikova L. Bergmann M. G. Besoiu L. Betev P. P. Bhaduri A. Bhasin I. R. Bhat M. A. Bhat B. Bhattacharjee L. Bianchi N. Bianchi J. Bielčík J. Bielčíková J. Biernat A. Bilandzic G. Biro S. Biswas J. T. Blair D. Blau M. B. Blidaru N. Bluhme C. Blume G. Boca F. Bock T. Bodova A. Bogdanov S. Boi J. Bok L. Boldizsár A. Bolozdynya M. Bombara P. M. Bond G. Bonomi H. Borel A. Borissov H. Bossi E. Botta L. Bratrud P. Braun-Munzinger M. Bregant M. Broz G. E. Bruno M. D. Buckland D. Budnikov H. Buesching S. Bufalino O. Bugnon P. Buhler Z. Buthelezi J. B. Butt A. Bylinkin S. A. Bysiak M. Cai H. Caines A. Caliva E. Calvo Villar J. M. M. Camacho R. S. Camacho P. Camerini F. D. M. Canedo M. Carabas F. Carnesecchi R. Caron J. Castillo Castellanos F. Catalano C. Ceballos Sanchez I. Chakaberia P. Chakraborty S. Chandra S. Chapeland M. Chartier S. Chattopadhyay T. G. Chavez T. Cheng C. Cheshkov B. Cheynis V. Chibante Barroso D. D. Chinellato E. S. Chizzali S. Cho P. Chochula P. Christakoglou C. H. Christensen P. Christiansen T. Chujo M. Ciacco C. Cicalo L. C Université Clermont Auvergne CNRS/IN2P3 LPC Clermont-Ferrand France Variable Energy Cyclotron Centre Homi Bhabha National Institute Kolkata India Nuclear Physics Institute of the Czech Academy of Sciences Husinec-Řež Czech Republic Johann-Wolfgang-Goethe Universität Frankfurt Institut für Informatik Fachbereich Informatik und Mathematik Frankfurt Germany European Organization for Nuclear Research (CERN) Geneva Switzerland Dipartimento DISAT del Politecnico and Sezione INFN Turin Italy INFN Sezione di Bologna Bologna Italy Department of Physics Aligarh Muslim University Aligarh India Korea Institute of Science and Technology Information Daejeon Republic of Korea Faculty of Science P.J. Šafárik University Košice Slovak Republic Affiliated with an institute covered by a cooperation agreement with CERN Research Division and ExtreMe Matter Institute EMMI GSI Helmholtzzentrum für Schwerionenforschung GmbH Darmstadt Germany INFN Sezione di Torino Turin Italy Central China Normal University Wuhan China Instituto de Física Universidad Nacional Autónoma de México Mexico City Mexico COMSATS University Islamabad Islamabad Pakistan Dipartimento di Fisica e Astronomia dell’Università and Sezione INFN Bologna Italy University of Houston Houston Texas USA Department of Physics and Technology University of Bergen Bergen Norway INFN Sezione di Cagliari Cagliari Italy Institut für Kernphysik Johann Wolfgang Goethe-Universität Frankfurt Frankfurt Germany Horia Hulubei National Institute of Physics and Nuclear Engineering Bucharest Romania Westfälische Wilhelms-Universität Münster Institut für Kernphysik Münster Germany Physikalisches Institut Ruprecht-Karls-Universität Heidelberg Heidelberg Germany INFN Sezione di Padova Padova Italy Lawrence Berkeley National Laboratory Berkeley California USA SUBATECH IMT Atlantique Nantes Université CNRS-IN2P3 Nantes France Department of Physics University of Oslo Oslo Norway Yale University New Haven Connecticut USA L

The first measurement of event-by-event antideuteron number fluctuations in high energy heavy-ion collisions is presented. The measurements are carried out at midrapidity (|η|<0.8) as a function of collision centrality in Pb-Pb collisions at sNN=5.02 TeV using the ALICE detector. A significant negative correlation between the produced antiprotons and antideuterons is observed in all collision centralities. The results are compared with a state-of-the-art coalescence calculation. While it describes the ratio of higher order cumulants of the antideuteron multiplicity distribution, it fails to describe quantitatively the magnitude of the correlation between antiproton and antideuteron production. On the other hand, thermal-statistical model calculations describe all the measured observables within uncertainties only for correlation volumes that are different with respect to those describing proton yields and a similar measurement of net-proton number fluctuations.

关键词： Hadron-hadron interactions

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Visualization of Virtual House Model on Property Brochure Using Augmented Technology

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Journal of Physics: Conference Series 2019年第1期1235卷

作者： M F Syahputra M Rinaldi M A Muchtar U Andayani D Abdullah S Sriadhi A Iskandar D R Pitasari S Laritmas Department of Information Technology Faculty of Computer Science and Information Technology Universitas Sumatera Utara Medan Indonesia Department of Informatics Universitas Malikussaleh Aceh Utara Indonesia Department of Electrical Engineering Universitas Negeri Medan Indonesia Informatics Engineering STMIK AKBA Makassar Indonesia Department of law Universitas Hamahera Indonesia

Brochures are use to help company to promote products or services that they have offer to customers. In the property business, brochures has greatly affects on the level of customers interest in the housing that is offered. Well-made brochures are needed to build interaction with customers. Augmented Reality (AR) is an environment that incorporates 3-dimensional virtual objects into real environments in real-time. Development of this application using Augmented Reality in order to make the housing brochure becomes more real with the existence of 3-dimensional objects. It is aims to show customers a house form that is offered in 3-dimensional. Furthermore, it can increase the interest of customers of the houses that is sold and reduce the cost of making miniature models. Moreove it is runs on android mobile platform and to display augmented objects in 3-dimensional this application use Vuforia SDK.

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Weight Initialization Possibilities for Feedforward Neural Network with Linear Saturated Activation Functions

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IFAC-PapersOnLine 2016年第25期49卷 49-54页

作者： Dolezel, Petr Skrabanek, Pavel Gago, Lumir University of Pardubice Faculty of Electrical Engineering and Informatics Pardubice Czech Republic

Initial weight choice is an important aspect of the training mechanism for feedforward neural networks. This paper deals with a particular topology of a feedforward neural network, where symmetric linear saturated activation functions are used in a hidden layer. Training of such a topology is a tricky procedure, since the activation functions are not fully differentiable. Thus, a proper initialization method for that case is even more important, than dealing with neural networks with sigmoid activation functions. Therefore, several initialization possibilities are examined and tested here. As a result, particular initialization methods are recommended for application, according to the class of the task to be solved. © 2016

关键词： Feedforward neural networks chemical activation Linear networks Linearization Neural networks Topology Activation functions Hidden layers Initial weights initialization Initialization methods Sigmoid activation function Weight initialization

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Comparative study of copy-move forgery detection techniques

Comparative study of copy-move forgery detection techniques

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2017 Intl Conf on Advanced Control Circuits Systems and 2017 Intl Conf on New Paradigms in Electronics and Information Technology, ACCS/PEIT 2017

作者： Elaskily, Mohamed A. Aslan, Heba K. Elshakankiry, Osama A. Faragallah, Osama S. El-Samie, Fathi E. Abd Dessouky, Mohamed M. Department of Informatics Electronics Research Institute Cairo Egypt Department of Information Technology College of Computers and Information Technology Taif University Al-Hawiya Saudi Arabia Department of Electronics and Electrical Communications Faculty of Electronic Engineering Menoufia University Menouf Egypt Department of Computer Science and Engineering Faculty of Electronic Engineering Menoufia University Menouf Egypt

ISBN: (纸本)9781538664070

Digital images and their applications gained a huge interest around the world in several fields like newspapers, social media, defaming persons, and courts. There are two types of digital image authentication. The first type is active authentication, which uses digital signature and image watermarks. These techniques have certain constraints such as knowing the content of the digital image. They need special equipment like cameras and development software. The second type is passive authentication, which is used to detect digital image forgeries represented in image cloning, image splicing, image resampling, image retouching, and image morphing. Passive authentication has an advantage of not needing any previous knowledge of the image content to detect the forgery. Copy-move forgery is the most famous type, and it is widespread in all image forgeries. Copy-move forgery is easy to perform and the forged part has the same properties of the whole image that makes it difficult to detect. There are many algorithms used to detect copy-move forgery attacks depending on different techniques. This paper covers the directions of copy-move forgery detection and gives a wide coverage of earlier copy-move forgery detection algorithms and techniques. © 2017 IEEE.

关键词： Authentication

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Rules all PIs should follow

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Science (New York, N.Y.) 2022年第6588期376卷 24-26页

作者： Jennifer S Chen Chih Ying Huang Shantanu Lanke Michael Sanjay Fernandopulle Yongsheng Ji Yuan Zhi Sara Granado Rodríguez Andrea Y Frommel Martin Lukačišin Yida Zhang Christina N Zdenek Xiao-Yu Wu Senthilkumar Seenuvasaragavan Yan Zhuang Cathrine Bergh Jaime Coulbois Salam Salloum-Asfar Bo Cao Katherine Davis Fernanda Oda Nikos Konstantinides Liping Zhang Divyansh Agarwal Joseph Nicholas Rainaldi Jan Kadlec Jelle Vekeman Vishal Anirudh Kanigicherla Kathryn Oi Kyle J Isaacson Rakesh Ganji Emma Dawson-Glass Yale School of Medicine New Haven CT 06510 USA. Department of Physics National Cheng Kung University Tainan 70101 Taiwan (Republic of China). Maharashtra 422101 India. Medical Scientist Training Program Northwestern University Feinberg School of Medicine Chicago IL 60611 USA. Division of Life Sciences and Medicine University of Science and Technology of China Hefei Anhui 230026 China. School of Economics Guizhou University Guiyang Guizhou 550025 China. Department of Biology Universidad Autónoma de Madrid Madrid Madrid 28049 Spain. Faculty of Land and Food Systems University of British Columbia Vancouver BC V6T 1Z4 Canada. Faculty of Medicine Technion Haifa 3525433 Israel. Department of Biomedical Informatics Harvard University Brookline MA 02445 USA. School of Biological Sciences The University of Queensland St Lucia QLD 4072 Australia. Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON N2L 3G1 Canada. Mumbai 400076 India. Peking-Tsinghua Center for Life Sciences Peking University Beijing 100871 China. KTH Royal Institute of Technology 11428 Stockholm Sweden. Departamento de Ciencia Política y Relaciones Internacionales Universidad Autónoma de Madrid Ciudad Universitaria de Cantoblanco Madrid Spain. Qatar Biomedical Research Institute Hamad Bin Khalifa University Qatar Foundation Doha Qatar. Core Research Laboratory The Second Affiliated Hospital School of Medicine Xi'an Jiaotong University Xi'an Shaanxi 710004 China. Imperial College London London UK. Department of Applied Behavioral Science University of Kansas Lawrence KS 66045 USA. Université Paris Cité Centre National de la Recherche Scientifique Institut Jacques Monod F-75013 Paris France. Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 China. Harvard Medical School Massachusetts General Hospital Boston MA 02114 USA. Department of Biomedical Science University of Calif

We asked young scientists to write a rule that all principal investigators (PIs) should be required to follow to improve the experience of young scientists in their lab. Read a selection of their suggestions below. Fo...

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