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15th IEEE Vehicular Networking Conference, VNC 2024

作者： Tangirala, Nagacharan Teja Sommer, Christoph Knoll, Alois Technical University of Munich Robotics Munich Germany TU Dresden Faculty of Computer Science Germany

ISBN: (纸本)9798350362701

Large-scale VANET simulations are computationally intensive. Disolv is a simulation architecture proposed to support city-scale VANET studies. This paper describes software decisions taken to realize a concrete implementation of Disolv. We describe a common workflow and provide guidelines on best utilizing Disolv. Finally, a small experiment demonstrates the performance gains by comparing the execution times with state-of-The-Art VANET simulators. © 2024 IEEE.

关键词： Vehicular ad hoc networks

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Probabilistic Modelling and Safety Assurance of an Agriculture Robot Providing Light-Treatment 19

Probabilistic Modelling and Safety Assurance of an Agricultu...

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19th IEEE International Conference on Automation science and Engineering, CASE 2023

作者： Adam, Mustafa Ye, Kangfeng Anisi, David A. Cavalcanti, Ana Woodcock, Jim Morris, Robert Robotics Group Faculty of Science & Technology Norway University of York Dept. of Computer Science United Kingdom Faculty of Engineering and Science Dept. of Mechatronics Norway Saga Robotics As Norway

ISBN: (纸本)9798350320695

Continued adoption of agricultural robots postulates the farmer's trust in the reliability, robustness and safety of the new technology. This motivates our work on safety assurance of agricultural robots, particularly their ability to detect, track and avoid obstacles and humans. This paper considers a probabilistic modelling and risk analysis framework for use in the early development phases. Starting off with hazard identification and a risk assessment matrix, the behaviour of the mobile robot platform, sensor and perception system, and any humans present are captured using three state machines. An auto-generated probabilistic model is then solved and analysed using the probabilistic model checker PRISM. The result provides unique insight into fundamental development and engineering aspects by quantifying the effect of the risk mitigation actions and risk reduction associated with distinct design concepts. These include implications of adopting a higher performance and more expensive Object Detection System or opting for a more elaborate warning system to increase human awareness. Although this paper mainly focuses on the initial concept-development phase, the proposed safety-assurance framework can also be used during implementation, and subsequent deployment and operation phases. © 2023 IEEE.

关键词： Agricultural robots

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Omnidirectional Autonomous Navigation With Multi-Camera RGBD Odometry 15

Omnidirectional Autonomous Navigation With Multi-Camera RGBD...

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15th Annual Undergraduate Research Conference on Applied Computing, URC 2024

作者： Urbanik, Igor Gibiec, Mariusz AGH University of Krakow Faculty of Computer Science Kraków Poland AGH University of Krakow Faculty of Mechanical Engineering and Robotics Kraków Poland

ISBN: (纸本)9798331527341

Omnidirectionality, that is (in the autonomous navigation context), ability to move in any direction at all times without extensive turning provides some nuances that can be leveraged greatly in many scenarios. This paper aims to describe an approach to omnidirectional autonomous navigation and localization based on the Kalman Planetary Rover developed by the AGH Space Systems team at the faculty of Mechanical Engineering and robotics at AGH University of Krakow. © 2024 IEEE.

关键词： Cameras

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Method for Determining the Digital Twin Structure of Distributed Open Sources

Method for Determining the Digital Twin Structure of Distrib...

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2022 International Russian Automation Conference, RusAutoCon 2022

作者： Antonov, V.V. Voyakovskaya, Y.S. Suvorova, V.A. Usatu Faculty of Computer Science and Robotics Ufa Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

For the material of this article, open sources are publicly available information posted on the Internet for repeated and free use in the form of machine-readable systematized data, in a format that allows their automated processing. Any of these sources is considered as a structure with iterative nesting of content, formalized by a number of stable rules. The mathematical description of the rules for the formulation of open source content objects constitutes a knowledge base containing statistics of various properties and mappings that bring such content closer to its digital counterpart, regardless of its nature. The digital twin, in this case, can be represented as a set of local systems with feedback subsystems connected by categorical relations at the level of functorial dependence. The conducted research has established the possibility of forming the structures of the digital twin of an open source, which makes it possible to increase the importance of the analysis of the qualifications of open sources. Turning to the same type of content, it becomes necessary to formalize the structures of connections between its objects, which can be described in the language of graph theory and as virtual objects of category theory. The formalized open source assumes preliminary iterations on the graph structure of the main content objects, as well as objects related to them. The subject area is an open source, which has some property of stable connections between the objects of research. © 2022 IEEE.

关键词： Iterative methods

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

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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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The Impact of Domain Name Server(DNS)over Hypertext Transfer Protocol Secure(HTTPS)on Cyber Security:Limitations,Challenges,and Detection Techniques

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computers, Materials & Continua 2024年第9期80卷 4513-4542页

作者： Muhammad Dawood Shanshan Tu Chuangbai Xiao Muhammad Haris Hisham Alasmary Muhammad Waqas Sadaqat Ur Rehman Faculty of Information Technology Beijing University of TechnologyBeijing100124China National Center of Robotics and Automation University of Engineering and TechnologyPeshawar25000Pakistan Department of Computer Science College of Computer ScienceKing Khalid UniversityAbha61421Saudi Arabia School of Computing and Engineering Sciences Faculty of Engineering and ScienceUniversity of GreenwichLondonSE109LSUnited Kingdom School of Engineering Edith Cowan UniversityPerthWA 6027Australia School of Computer Science and Engineering University of SalfordManchesterM54BRUnited Kingdom

The DNS over HTTPS(Hypertext Transfer Protocol Secure)(DoH)is a new technology that encrypts DNS traffic,enhancing the privacy and security of ***,the adoption of DoH is still facing several research challenges,such as ensuring security,compatibility,standardization,performance,privacy,and increasing user *** significantly impacts network security,including better end-user privacy and security,challenges for network security professionals,increasing usage of encrypted malware communication,and difficulty adapting DNS-based security ***,it is important to understand the impact of DoH on network security and develop newprivacy-preserving techniques to allowthe analysis of DoH traffic without compromising user *** paper provides an in-depth analysis of the effects of DoH on *** discuss various techniques for detecting DoH tunneling and identify essential research challenges that need to be addressed in future security ***,this paper highlights the need for continued research and development to ensure the effectiveness of DoH as a tool for improving privacy and security.

关键词： DNS DNS over HTTPS cybersecurity machine learning

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Mixed Reality Application in Robot Navigation and Control 16

Mixed Reality Application in Robot Navigation and Control

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16th International Conference on Applied and Theoretical Electricity, ICATE 2024

作者： Cismaru, Stefan-Irinel Petcu, Florina-Luminita Resceanu, Ionut-Cristian Roibu, Horatiu Trasculescu, Andrei-Costin Pana, Cristina-Floriana Bizdoaca, Nicu-George University of Craiova Faculty of Automation Computers and Electronics Mechatronics and Robotics Department Craiova Romania University of Craiova Faculty of Automation Computers and Electronics Computer Science Department Craiova Romania

ISBN: (纸本)9798350388107

Among the emerging technologies, Mixed Reality (MR) has provided the means to interact with holograms. A very distant future is now near and accessible, which allows for the replacement of classic controllers for robots and is driven by MR. Holograms involve dynamic 3D elements that are integrated into the environment, enhancing control means for the user. These elements may be visually attended to and interacted with via eye concentration or hand gestures, and they have the capability to execute a variety of activities. This emerging technology enables interactions that are otherwise unattainable in alternative settings or contexts, such as the presence of an avatar inside the program. Furthermore, it has the potential to be expanded to govern other mechatronic devices, including robots. The purpose of this work is to offer an improved and interactive method of controlling a mechatronic platform by using holograms, such that the adaptability of this technology may be shown in the context of operating real systems. Important for the authors of this paper is the broadening of the spectrum in which the application lies, thus contributing to the process followed for the development and applicability of the solution in key areas such as industry, training, and medicine. © 2024 IEEE.

关键词： Holograms

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Uncertainty propagation in the internet of things

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Discover Internet of Things 2024年第1期4卷 1-20页

作者： Pal, Shantanu Khalifa, Sara Miller, Dimity Dedeoglu, Volkan Dorri, Ali Ramachandran, Gowri Moghadam, Peyman Kusy, Brano Jurdak, Raja The School of Information Technology Faculty of Science Engineering and Built Environment Deakin University MelbourneVIC 3125 Australia The School of Information Systems Faculty of Science Queensland University of Technology BrisbaneQLD4000 Australia The School of Electrical Engineering and Robotics Faculty of Engineering Queensland University of Technology BrisbaneQLD4000 Australia The Distributed Sensing Systems Group Data61 CSIRO PullenvaleQLD 4069 Australia The School of Computer Science Faculty of Science Queensland University of Technology BrisbaneQLD 4000 Australia The CSIRO Robotics Data61 CSIRO PullenvaleQLD 4069 Australia

The Internet of Things (IoT) detects context through sensors capturing data from dynamic physical environments, in order to inform automation decisions within cyber physical systems (CPS). Diverse types of uncertainty in the IoT pipeline can propagate within and across nodes, involving complex interactions with security, privacy, and trust that remain largely unexplored. This paper conducts an in-depth analysis of the types of uncertainties in IoT and how they propagate within IoT nodes and networks. We consider adversarial uncertainty in the context of distributed IoT networks to capture perturbations due to malicious actors in the network that can influence IoT security, privacy and trust. We examine the propagation of adversarial uncertainty and well-known uncertainty types, namely aleatoric and epistemic uncertainty, within the five distinct stages of sensing, communication, storage, processing and decision-making in an IoT pipeline, across network layer boundaries, and across nodes within an IoT network. Using this mapping, we analyse the interactions between the uncertainty types and their propagation, and security, privacy, and trust in IoT. Based on this analysis, we discuss guidelines and considerations for mitigating uncertainty in IoT through a smart grid use case study. © The Author(s) 2024.

关键词： Differential privacy

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Cost-Effective Federated Learning-Based Approach for SINR Prediction in Cellular-Connected UAVs

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Journal of Communications and Information Networks 2025年第4期9卷 374-389页

作者： Mouhamad, Ibrahem Jayakody, Dushantha Nalin K. Vukobratovic, Dejan School of Computer Science and Robotics National Research Tomsk Polytechnic University Tomsk634050 Russia COPELABS Lusófona University Lisbon1749-024 Portugal Faculty of Technical Sciences University of Novi Sad Novi Sad21000 Serbia

This study introduces a novel approach to empower cellular-connected unmanned aerial vehi-cles (UAVs) in predicting signal quality. The proposed prediction model leverages data collected by the UAVs, addressing privacy concerns and ensuring effectiveness, while taking into account the constraints of UAVs. A unique three-step approach is proposed, which integrates a detailed physical ray-tracing (RT) method, deep learn-ing, and federated learning (FL) for continuous learning and field adaptation. A dual input feature fusion convo-lutional neural network (DIFF-CNN) model is proposed, which is pretrained on RT data and fine-tuned using data collected by the UAVs via FL. The proposed model demonstrates superior performance and robustness to data sparsity compared to traditional machine learning algorithms. Notably, the model achieves a root mean squared error of 0.837 dB and an R-squared of 97.7% for signal-to-interference-plus-noise ratio (SINR) prediction after the fine-tuning step in the fixed-altitude scenario, but performance drops with uniform altitude distribution, highlighting the impact of flying height on fine-tuning. The research indicates that the proposed approach can enhance performance while reducing training rounds by 35% to 90%, thus mitigating FL overheads. Future research could explore efficiency gains by using different pretrained models tailored to specific flying heights. © 2025, Posts and Telecom Press Co Ltd. All rights reserved.

关键词： Mean square error

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Multi-Label Classification for Low-Resource Issue Tickets with BERT

Multi-Label Classification for Low-Resource Issue Tickets wi...

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2024 IEEE International Conference on Cybernetics and Innovations, ICCI 2024

作者： Sungthong, Chawanee Ruangtanusak, Saksorn Songmuang, Pokpong Thammasat University Faculty Of Science And Technology Department Of Computer Science Pathum Thani Thailand Bedrock Analytics Ai And Robotics Ventures Applied Machine Learning Team Bangkok Thailand

ISBN: (纸本)9798350370096

This study focuses on the problem in the field of issue ticketing systems, where the need for human involvement in classifying work task in the ticket often results in insufficient classification. Our primary focus is on a problem associated with multi-label classification. A significant challenge in this study is the dependency of our dataset on low resources, which is different from the large datasets usually used in current multi-label text classification studies. Therefore, we propose a pre-training approach for our low-resource dataset. Our methodology applies several embedding techniques, including TF-IDF, Word2Vec, and BERT (WangchanBERTa and PhayaThaiBERT). The classification models, such as Logistic Regression, Support Vector Classifiers, Decision Trees, Neural Networks, and Deep Neural Networks, are experimented in this study to assess their performance in a low-resource environment. According to our experimental results, a combination of PhayaThaiBERT and Deep Neural Networks outperforms conventional methods. The combination yielded an F1 score of 0.769 on the test dataset. © 2024 IEEE.

关键词： Deep neural networks

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