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arXiv 2025年

作者： Braganets, Oksana Faculty of Computer Science and Cybernetics Taras Shevchenko National University of Kyiv Ukraine

Let (ξk,ηk)k≥1 be independent identically distributed random vectors with arbitrarily dependent positive components and Tk ∶= ξ1 + . . . + ξk−1 + ηk for k ∈ N. We call the random sequence (Tk)k≥1 a (globally) perturbed random walk. Consider a general branching process generated by (Tk)k≥1 and let Yj(t) denote the number of the jth generation individuals with birth times ≤ t. Assuming that Var ξ1 ∈ (0, ∞) and allowing the distribution of η1 to be arbitrary, we prove a law of the iterated logarithm (LIL) for Yj(t). In particular, a LIL for the counting process of (Tk)k≥1 is obtained. The latter result was previously established in the article Iksanov, Jedidi and Bouzeffour (2017) under the additional assumption that Eη1a 0. In this paper, we show that the aforementioned additional assumption is not needed. Copyright © 2025, The Authors. All rights reserved.

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Limit theorems for globally perturbed random walks

arXiv

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arXiv 2025年

作者： Iksanov, Alexander Kondratenko, Oleh Faculty of Computer Science and Cybernetics Taras Shevchenko National University of Kyiv Ukraine

Let (ξ1, η1), (ξ2, η2), . . . be independent copies of an R2-valued random vector (ξ, η) with arbitrarily dependent components. Put Tn := ξ1+. . .+ξn−1+ηn for n ∈ N and define τ(t):= inf{n ≥ 1: Tn > t} the first passage time into (t, ∞), N(t):= Pn≥1 1{Tn≤t} the number of visits to (−∞, t] and ρ(t):= sup{n ≥ 1: Tn ≤ t} the associated last exit time for t ∈ R. The standing assumption of the paper is E[ξ] ∈ (0, ∞). We prove a weak law of large numbers for τ(t) and strong laws of large numbers for τ(t), N(t) and ρ(t). The strong law of large numbers for τ(t) holds if, and only if, E[η+] +] = ∞ we prove functional limit theorems in the Skorokhod space for (τ(ut))u≥0, properly normalized without centering. Also, we provide sufficient conditions under which finite dimensional distributions of (τ(ut))u≥0, (N(ut))u≥0 and (ρ(ut))u≥0, properly normalized and centered, converge weakly as t → ∞ to those of a Brownian motion. Quite unexpectedly, the centering needed for (N(ut)) takes in general a more complicated form than the centering ut/E[ξ] needed for (τ(ut)) and (ρ(ut)). Finally, we prove a functional limit theorem in the Skorokhod space for (N(ut)) under optimal moment conditions. Copyright © 2025, The Authors. All rights reserved.

关键词： Brownian movement

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Bio-inspired optimization methods for visible light communication: a comprehensive review

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Artificial Intelligence Review 2025年第8期58卷 1-25页

作者： Dratnal, Martin Danys, Lukas Martinek, Radek Department of Cybernetics and Biomedical Engineering Faculty of Electrical Engineering and Computer Science VSB–Technical University of Ostrava Ostrava Czech Republic

Visible light communication (VLC) offers a promising alternative to traditional radio frequency communication due to its greater bandwidth, energy efficiency, and security advantages. This paper presents a comprehensive review of bio-inspired optimization algorithms, including swarm intelligence and genetic algorithms, that enhance the performance and robustness of VLC systems. These techniques have demonstrated significant potential in addressing challenges such as channel optimization and noise reduction. However, despite their advantages, bio-inspired algorithms also face limitations, including computational complexity and limited adaptability to dynamic real-world conditions. Additionally, the integration of bio-inspired methods with artificial intelligence (AI) may further enhance their adaptability and efficiency in VLC systems. This review highlights both the opportunities and challenges associated with bio-inspired optimization in VLC and provides insights into future directions for research and practical implementation, which will focus on developing more efficient and scalable bio-inspired approaches that can operate in highly variable environments while minimizing energy consumption.

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Large-area Tomographic Tactile Skin with Air Pressure Sensing for Improved Force Estimation

arXiv

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arXiv 2025年

作者： Chen, Haofeng Himmel, Bedrich Kubik, Jiri Hoffmann, Matej Lee, Hyosang Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Department of Computer Science Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Eindhoven Netherlands

This paper presents a dual-channel tactile skin that integrates Electrical Impedance Tomography (EIT) with air pressure sensing to achieve accurate multi-contact force detection. The EIT layer provides spatial contact information, while the air pressure sensor delivers precise total force measurement. Our framework combines these complementary modalities through: deep learning-based EIT image reconstruction, contact area segmentation, and force allocation based on relative conductivity intensities from EIT. The experiments demonstrated 15.1% average force estimation error in single-contact scenarios and 20.1% in multi-contact scenarios without extensive calibration data requirements. This approach effectively addresses the challenge of simultaneously localizing and quantifying multiple contact forces without requiring complex external calibration setups, paving the way for practical and scalable soft robotic skin applications. © 2025, CC BY.

关键词： Image segmentation

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ALMOST PERIODIC STOCHASTIC PROCESSES WITH APPLICATIONS TO ANALYTIC NUMBER THEORY

arXiv

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arXiv 2025年

作者： Iksanov, Alexander Kabluchko, Zakhar Marynych, Alexander Faculty of Computer Science and Cybernetics Taras Shevchenko National University of Kyiv Kyiv01601 Ukraine Institute of Mathematical Stochastics Department of Mathematics and Computer Science University of Münster Orléans-Ring 10 MünsterD-48149 Germany

A classical fact of the theory of almost periodic functions is the existence of their asymptotic distributions. In probabilistic terms, this means that if f is a Besicovitch almost periodic function and V is a random variable uniformly distributed on [−1, 1], then the random variables f (L · V ) converge in distribution, as L → ∞, to a proper non-degenerate random variable. We prove a functional extension of this result for the random processes (f (L · V + t))t∈R in the space of Besicovitch almost periodic functions, and also in the sense of weak convergence of finite-dimensional distributions. We further investigate the properties of the limiting stationary process and demonstrate applications in analytic number theory by extending the one-dimensional results of [Limiting distributions of the classical error terms of prime number theory, Quart. J. Math. 65 (2014), 743–780] and earlier *** Codes Primary: 11N37, 60F17, secondary: 60G10, 11M26 Copyright © 2025, The Authors. All rights reserved.

关键词： Stochastic systems

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Extinguishing Real Fires by Fully Autonomous Multirotor UAVs in the MBZIRC 2020 Competition

Field Robotics

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Field Robotics 2025年 2卷 406-436页

作者： Viktor Walter Vojtěch Spurný Matěj Petrlík Tomáš Báča David Žaitlík Lyubomyr Demkiv Martin Saska Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague http://mrs.felk.cvut.cz Robotics Group of SoftServe Inc. and with the Institute of Computer Science and Information Technologies Lviv Polytechnic National University Ukraine

In this paper, we describe a system for combating real fires with sprayed liquid extinguishing agent using a team of multirotor UAVs. The system design relies on onboard sensors and operates without the need for human intervention throughout its complex mission, from its takeoff to landing. The core UAV platform can estimate its state, self-localize, navigate and locate and extinguishing fires. Thermal and RGB cameras are used, each with a specialized computer vision subsystem and are combined with planar LIDAR for 3D localization of fires on multistory building facades. The system conducts aerial firefighting with a software stack that addresses flight dynamics and sensor limitations and a liquid-spraying subsystem incorporating a rigidly-attached water nozzle. The approach presented in this paper was motivated by the Mohamed Bin Zayed International Robotics Challenge (MBZIRC 2020) firefighting scenario, which focused on coordinated multi-UAV teams that can autonomously combat high-rise building fires. The MBZIRC series places particular emphasis on fast and reliable deployment of robots in realistic conditions. These contests promote development of real-world applications that are greatly needed by society, but which still exceed State-of-the-Art in the robotics community. To our knowledge, our system was the only MBZIRC 2020 contender to extinguish a facade fire successfully in autonomous mode without using an RTK-GNSS system. Our approach contributed to victory in the overall competition and we have now adapted it into an industrial prototype for a firefighting UAV. A video attachment to this paper is available at http://***/fr2020firechallenge-facadefires.

关键词： Robots Buildings Autonomous aerial vehicles Location awareness Robot kinematics Inspection Navigation Cameras Monitoring Sensor systems

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Towards New Frontiers in Mobile Manipulation: Team CTU-UPenn-NYU at MBZIRC 2020

Field Robotics

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Field Robotics 2025年 2卷 75-106页

作者： Petr Štibinger George Broughton Filip Majer Zdeněk Rozsypálek Anthony Wang Kshitij Jindal Alex Zhou Dinesh Thakur Giuseppe Loianno Tomáš Krajník Martin Saska Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Department of Computer Science Faculty of Electrical Engineering Czech Technical University in Prague Department of MAE Tandon School of Engineering New York University GRASP Laboratory University of Pennsylvania Philadelphia PA USA Department of ECE and MAE Tandon School of Engineering New York University

In this paper we present an autonomous robotic system for picking, transporting, and precisely placing magnetically graspable objects. Such a system would be especially beneficial for construction tasks where human presence is not possible, e.g. due to chemical or radioactive pollution. The system comprises of two primary components — a wheeled, mobile platform and a manipulator arm. Both are interconnected through an onboard computer and utilize various onboard sensors for estimating the state of the robot and its surroundings. By using efficient processing algorithms, data from the onboard sensors can be used in a feedback loop during all critical operational sections, resulting in a robust system capable of operating on uneven terrain and in environments without access to satellite navigation. System functionality has been proven in Challenge II of the MBZIRC 2020 competition. The Challenge required a ground robot to build an L-shaped structure of colored bricks laid in a predefined pattern. Such a mission incorporates several demanding subchallenges, spanning multiple branches of computer science, cybernetics, and robotics. Moreover, all the subchallenges had to be performed flawlessly in rapid succession, in order to complete the Challenge successfully. The extreme difficulty of the task was highlighted in the MBZIRC 2020 finals, where our system was among the only two competitors (out of 32) that managed to complete the task in autonomous mode.

关键词： Robots Manipulators Robot sensing systems Reliability Autonomous aerial vehicles Service robots Multi-robot systems Assembly Valves Safety

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Silver-atom catalysts boosted nitrogen-doped MoS2 for chemiresistive NO2 gas sensor

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Sensors and Actuators B: Chemical 2025年 439卷

作者： Kumar, Ashok Barala, Suraj Gutal, Akash Popat Chakkar, Atul G. Kumar, Pradeep Paranjothy, Manikandan Kumar, Mahesh Department of Electrical Engineering Indian Institute of Technology Jodhpur342030 India Interdisciplinary Department of Space Science and Technology Indian Institute of Technology Jodhpur342030 India Department of Chemistry Indian Institute of Technology Jodhpur342030 India School of Physical Sciences Indian Institute of Technology Himachal Pradesh Mandi175005 India Department of Cybernetics Nanotechnology and Data Processing Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

MoS2 has elicited notable interest as a promising material for gas sensing applications. The pristine MoS2 is still encumbered by drawbacks such as low response, large response time, and a propensity for weak adsorption of target gases, which can impede its effectiveness in practical applications. To address these challenges, this study investigates the functionalization of nitrogen-doped MoS2 with silver nanoparticles to improve its sensing performance for NO2 gas. MoS2 nanosheets were synthesized through chemical vapor deposition and subsequently subjected to nitrogen plasma treatment to facilitate doping. We evaluated the gas sensing performance of pristine MoS2, Ag-decorated MoS2, nitrogen-doped MoS2, and Ag-decorated nitrogen-doped MoS2 (Ag-N-MoS2) specifically for NO2 gas sensing. The Ag-N-MoS2 configuration demonstrated a response that was nearly double that of pristine MoS2 at 100 °C, demonstrating the benefits of this dual enhancement strategy. Additionally, selectivity tests revealed the sensor's capacity to distinguish NO2 from other gases. To reinforce our experimental results, density functional theory (DFT) calculations were conducted, confirming the improved electronic properties achieved through nitrogen doping and Ag NP functionalization. This research underscores the potential of Ag-N-MoS2 as a formidable platform for sophisticated gas sensors, addressing crucial environmental monitoring requirements while surmounting the intrinsic limitations of pristine MoS2. © 2025 Elsevier B.V.

关键词： Plasma CVD

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Higher education ERPs: Implementation factors and their interdependecies

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WSEAS Transactions on computers 2009年第4期8卷 651-660页

作者： Bologa, Ana-Ramona Muntean, Mihaela Sabau, Gheorghe Scorta, Iuliana Department of Computer Science Faculty of Cybernetics Statistics and Computer Science P-ta. Romana 6 Bucharest Romania

In this paper we have analyzed some critical implementation factors of an ERP project implementation in universities and their interdependencies. Taking into consideration that for industry implementations there are already many performed studies we started by considering university implementations as a particular case for the industry ones. Starting from this, we have identified and analyzed differences for the case of universities regarding communication structure, management involvement, organization, implementation team competences, legacy systems, inter-department communication, user training, suppliers/customers' partnership, external consultants. The conclusions of this study are going to be used in developing an evaluation framework of ERP solutions for higher education management.

关键词： Legacy systems

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Weakening Topologies on a Countable Abelian group of Finite Exponent

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Journal of Mathematical sciences (United States) 2020年第2期248卷 188-189页

作者： Protasov, Igor Faculty of Computer Science and Cybernetics Kyiv University Kyiv Ukraine

We prove that a countable locally minimal Abelian group of finite exponent m is discrete. For prime m, this answers Question 7.35(b) from [2]. © 2020, Springer science+Business Media, LLC, part of Springer Nature.

关键词： Locally minimal group

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