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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

IEEE Transactions on Robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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Research on Human Activity Recognition Based on Random Forest Classifier

Research on Human Activity Recognition Based on Random Fores...

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2023 IEEE International Conference on Control, Electronics and computer Technology, ICCECT 2023

作者： Feng, Zhiyong Shi, Yike Zhou, Duomu Mo, Liping Jishou University The School of Computer Science and Engineering Jishou416000 China Jishou University Faculty of Computer Science and Technology Computer Science and Engineering Jishou416000 China

ISBN: (纸本)9798350399028

The current machine learning algorithms classify human activities with inaccurate accuracy, poor generalization ability of the model, and poor classification effect. Proposing to use Random Forest classifier to classify the samples. The classifier has the advantage of good generalization ability, high accuracy, and the ability to handle a large number of sample data. After comparing with BP neural networks, Naive Bayesian networks, and decision trees, the random forest classifier achieved an accuracy of 98% on the test set, much higher than the 55%, 87%, and 88% of the other algorithms. In addition, we also tested the generalization ability of the model using the K-Folder cross-validation method, which yielded an average accuracy of 95.5%, also much higher than the 49.9%, 85%, and 90% of the other classifiers. The experimental results show that the random forest classifier has significantly improved in accuracy and generalization ability compared with BP neural network by 78% and 91%, respectively. Therefore, the superiority of the random forest classifier in human activity classification is proved. © 2023 IEEE.

关键词： Decision trees

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Global-Local Consistency for Cost-Effective Anomaly Localization with Point Annotations 16

Global-Local Consistency for Cost-Effective Anomaly Localiza...

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16th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2024

作者： Nakanishi, Keiichi Katafuchi, Ryoya Tokunaga, Terumasa Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Japan Kyushu Institute of Technology Faculty of Computer Science and Systems Engineering Iizuka Japan

ISBN: (纸本)9798350377903

Creating pixel-level ground-truth (GT) masks is quite costly for deep learning-based image segmentation. Specialists in areas such as anomaly detection and medical diagnostics face difficulties in producing many GT masks due to limited resources. To reduce this burden, we propose a cost-effective image segmentation framework with point annotations (CoSPA) that performs image segmentation with only point annotations. Point annotations refer to the partial and sparse labeled coordinates in an image. The key idea is to ensure consistency between the predictions for the same coordinates from the two different networks of CoSPA. This new consistency enables the CoSPA to improve segmentation performance and extend to semi-supervised learning. For the MVTec AD dataset, we verified the cost-effectiveness of CoSPA through an anomaly detection task. We demonstrated that the point annotating costs were reduced by 80% compared to creating GT masks. Subsequently, the CoSPA realized by 87% of the mean Intersection over Union (mIoU) achieved using the fully supervised method, DeepLabV3+. Moreover, the mIoU of CoSPA using only 30% of all point annotations defeated that of the unsupervised method, PaDiM. This study offers a new direction for economic anomaly localization. © 2024 IEEE.

关键词： Image segmentation

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Explainable AI in Biometrics: A Novel Framework for Facial Recognition Interpretation

Explainable AI in Biometrics: A Novel Framework for Facial R...

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2024 IEEE International Conference on Modeling, Simulation and Intelligent Computing, MoSICom 2024

作者： Agrawal, Ansh Kaur, Kirandeep Kaur, Harkeerat Indian Institute of Technology Computer Science Engineering Jammu & Kashmir Jammu India Indian Institute of Technology Faculty Computer Science Engineering Jammu & Kashmir Jammu India

ISBN: (纸本)9798331533311

In recent years, the integration of Explainable Artificial Intelligence (XAI) in facial biometrics has gained momentum, driven by a growing need for transparency in automated decision-making systems. This paper explores the application of XAI in face detection and identification to bridge the gap between model accuracy and interpretability, aiming to address challenges unique to biometric systems, including bias mitigation, user trust, and ethical implications. Unlike traditional 'black-box' models, the proposed framework incorporates visual and feature-based explanations that highlight key facial regions contributing to identification outcomes, enabling more transparent model assessments. We evaluate the effectiveness of state-of-the-art XAI techniques, such as SHAP, LIME, and Grad-CAM, through rigorous testing on diverse datasets under varying conditions, including occlusions, lighting, and facial expressions. Additionally, this research introduces a novel hybrid interpretability metric tailored to biometric applications, assessing the quality of explanations based on fidelity, usability, and impact on user trust. Results demonstrate that the proposed XAI-enhanced model offers insights into decision processes without compromising accuracy, advancing the state of explainability in biometric systems. This work underscores the importance of explainability as a means to achieve ethical, reliable, and legally compliant AI systems in sensitive domains like facial biometrics. © 2024 IEEE.

关键词： Biometrics

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Automated API Testing with Karate Framework: A Case Study of an Online Assessment Web Application 20

Automated API Testing with Karate Framework: A Case Study of...

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20th International Joint Conference on computer science and Software engineering, JCSSE 2023

作者： Gidvarowart, Supagid Suchato, Atiwong Wanvarie, Dittaya Pratanwanich, Naruemon Tuaycharoen, Nuengwong Chulalongkorn University Faculty of Engineering Department of Computer Engineering Bangkok Thailand Chulalongkorn University Faculty of Science Department of Mathematics and Computer Science Bangkok Thailand

ISBN: (纸本)9798350300505

This case study uses the Karate Framework to reduce the time and resources required for testing an application programming interface (API) for an Online Assessment Web Application, which is part of a continuous development process involving numerous complex features and test cases challenging to perform tests manually. The study aims to verify the correctness of the API's operation and facilitate regression testing during the development process to promptly detect errors. The study involved the testing of 162 test cases using the Karate Framework. Additionally, software quality assurance reports were created to confirm the quality and effectiveness of the Karate Framework in reducing manual testing time by over several hours compared with manual testing. Also, it is more effective than Robot Framework due to Karate Framework's capability of parallel threads. The findings suggest that using the Karate Framework can potentially optimize API testing processes of the case study. © 2023 IEEE.

关键词： Software testing

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Control Displaying of Web Push Notifications Inducing Users to Phishing Websites 7

Control Displaying of Web Push Notifications Inducing Users ...

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7th IEEE Conference on Dependable and Secure Computing, DSC 2024

作者： Sato, Masaya Mandai, Ryuki Okayama Prefectural University Faculty of Computer Science and Systems Engineering Soja Japan Graduate School of Computer Science and Systems Engineering Okayama Prefectural University Soja Japan

ISBN: (纸本)9798331540289

The number of phishing websites is increasing, and the methods used to direct users to these sites are becoming more diverse. As web push notifications become more widespread, adversaries have begun using them as a method to direct users to phishing websites, known as phishing web push notifications. While protection against other phishing methods has been widely studied, countermeasures against phishing web push notifications remain an ongoing research topic. In this paper, we explore a method to control the display of web push notifications to protect users from phishing attempts. To minimize the cost of implementing and introducing the control mechanism, we utilized a browser extension to manage the display of web push notifications. We employed a keyword-based approach to detect and prevent the display of suspicious web push notifications. Our experimental results demonstrated that the proposed method effectively blocks phishing notifications. © 2024 IEEE.

关键词： Phishing

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Analyzing Standardized Inverse Time-Current Curve Types of Overcurrent Relays for Efficient Overcurrent Protection in Distribution Networks 47

Analyzing Standardized Inverse Time-Current Curve Types of O...

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47th ICT and Electronics Convention, MIPRO 2024

作者： Rojnić, Michele Prenc, Rene Dubravac, Marina Šimić, Zvonimir University Of Rijeka Faculty Of Engineering Croatia University Of Osijek Faculty Of Electrical Engineering Computer Science And Information Technology Croatia

ISBN: (纸本)9798350382495

The selection of the appropriate curve type of overcurrent relay function is significant for achieving optimal coordination of overcurrent protection in distribution networks. In this study, we conducted a comprehensive analysis of the overcurrent relays performance regarding their different inverse time-current curve types. Additionally, different fault locations were taken into consideration. To investigate the impact of curve types on overcurrent relays coordination, we employed a uniform curve type for all overcurrent relays in two representative power systems. The results, encompassing three standardized IEC curve types, are presented, and analyzed to illustrate the efficacy of our proposed approach. Therefore, this study underscores the critical role that curve type selection has in determining the feasibility of attaining reasonably low overcurrent relay trip times. © 2024 IEEE.

关键词： Relay protection

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A Review on Implementation of Wearable Devices in Healthcare 7

A Review on Implementation of Wearable Devices in Healthcare

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7th International Conference on Inventive Computation Technologies, ICICT 2024

作者： Suman, Saurabh Choudhary, Vishal Kumar Pacharaney, Utkarsha Kumar, Abhishek Kumar, Dhiraj Raushan, Rahul Faculty of Engineering And Technology Department of Computer Science And Design Maharashtra Wardha India Faculty of Engineering And Technology Department of Computer Science And Medical Engineering Maharashtra Wardha India Faculty of Engineering And Technology Department of Artificial Intelligence And Machine Learning Maharashtra Wardha India

ISBN: (纸本)9798350359299

The capacity to get additional patient data, including clinical, behavioral, and self-monitored data, has enhanced by the expanding usage of wearable technology. Large volumes of previously unobtainable data are now available, providing a chance to create new instruments with sophisticated analysis and decision support systems for application in clinical settings. Additionally, it gives patients additional options by arming them with personalized decision-support resources and information, enabling them to take charge of their own health care while maintaining their sense of autonomy. Especially well-suited for miniaturization and integration into microfluidic devices are biosensors with electrochemical sensors. Applications cover activities in the domains of diagnostics, food and environmental control, and the identification of complete cells, the parts of cells, proteins, and tiny compounds. Microfluidic technologies can be as basic as sample transport tubes or as sophisticated as platforms with extra components for sample preparation and sensing electrode integration. The kind of detection, application, and sample material all influence the microfluidics design. The next issue for the healthcare industry will be how to use newly acquired information in a way that benefits patients, healthcare organizations, and professionals all while reducing costs and workloads. Given the current limitations, the challenge for wearable technology designers is to provide solutions that healthcare practitioners can readily integrate and use. © 2024 IEEE.

关键词： Biosensors

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Modified SPICE-Compatible Model Integrating NBTI and Self-Heating Effects for VDMOS Transistors 11

Modified SPICE-Compatible Model Integrating NBTI and Self-He...

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11th International Conference on Electrical, Electronic and Computing engineering, IcETRAN 2024

作者： Marjanović, Milos Veljković, Sandra Mitrović, Nikola Živanović, Emilija Gavrić, Aleksandar Danković, Danijel Faculty of Electronic Engineering Department of Microelectronics Niš Serbia Faculty of Electronic Engineering Department of Computer Science Niš Serbia

ISBN: (纸本)9798350386998

This paper describes a modified SPICE-compatible VDMOS transistor model that includes NBT and self-heating effects. A complete circuit diagram of the transistor is given, which includes the electrical part of the circuit that models the NBT effect and the equivalent thermal part of the circuit that models the self-heating effect. The parameters of the model were determined based on the technical documentation and the fitting method based on the performed experiments. Fresh transistors and NBT-stressed transistors, with and without a heatsink in the load-driving circuit, were considered. The results of experiments and simulations correspond to each other with a maximum deviation of up to 10%. The proposed model can be used in the design and analysis of transistor reliability parameters. © 2024 IEEE.

关键词： SPICE

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COVID-Pneumonia Classification using Chest X-Ray 14

COVID-Pneumonia Classification using Chest X-Ray

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14th International Conference on Advances in Computing, Control, and Telecommunication Technologies, ACT 2023

作者： Manjunath, Apeksh S. Monis, Derryl Kevin Gurukiran, D. Shastry, Sushil K. Ravikumar, V. Vidyavardhaka College of Engineering Computer Science and Engineering Mysore India Vidyavardhaka College of Engineering Dean Faculty Computer Science and Engineering Mysore India

The traditional methods of examining the reports physically is time consuming and chances of missing out smaller details are more. In the present world, Image Processing in the medical field has a significant impact in making the job of medicos easy. To make this job easy it is expected to have an automated system for medical image analysis related Covid-19. In this paper we are analyzing various approaches available for medical image analysis and to propose an efficient approach to increase the current system's performance. © Grenze Scientific Society, 2023.

关键词： Image classification

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