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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yusuke Inagaki Ryosuke Araki Takayoshi Yamashita Hironobu Fujiyoshi Dept. of Robotics Science and Technology Grad Chubu Univ Aichi JP Dept. of Computer Science Grad Chubu Univ Aichi JP Faculty of Computer Science Chubu Univ Aichi JP Faculty of Robotics Science and Technology Chubu Univ Aichi JP

When robots engage in bin picking of multiple objects, a failure in grasping partially occluded objects may occur because other objects may overlap the desired ones. Therefore, the layered structure of objects needs to be detected, and the picking order needs to be established. In this paper, we propose a new dataset that evaluates not only the area of objects but also the layered structures of objects. In this dataset, three tasks are targeted: object detection, semantic segmentation, and segmentation of occluded areas for bin picking of multiple objects. The dataset, called “the Amazon robotics Challenge (ARC) Multi-task Dataset” contains 1,500 RGB images and depth images, including all scenes containing bounding box labels, semantic segmentation labels, and occluded area labels. This enables representing the layered structure of overlapped objects with a tree structure. A benchmark of the ARC multi-task dataset demonstrated that occluded areas could be segmented using a Mask regional convolutional neural network (R-CNN) and that layered structures of objects could be predicted. Our dataset is available at the following URL:http://***/research/arc_dataset_2017_e.

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Assisted Living System Architecture Based on Bluetooth low Energy and Wearable Sensors

Assisted Living System Architecture Based on Bluetooth low E...

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International Conference on Perspective Technologies and Methods in MEMS Design (MEMSTECH)

作者： Marcin Kajor Dominik Grochala Michał Grochala Marek Iwaniec Justyna Lemejda Faculty of Electical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Kraków Poland Nordic Semiconductor Poland sp. z o.o. Kraków Poland Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Kraków Poland Department of Prosthodontics Jagiellonian University Kraków Poland

ISBN: (数字)9781728171807

ISBN: (纸本)9781728171814

The design of wearable sensors and development of novel wireless radio protocols drive advances in the assisted living technology which is a promising approach in terms of future domestic healthcare. In this paper we propose the system architecture for vital signs monitoring in home conditions. The prototype device is based on the microcontroller supporting Bluetooth Low Energy which may be used for medical data transfer in assisted living applications. We developed a respiration rate sensor and thermometer pickup to provide basic measurements of physiological signals. We tested a range of proposed wireless system in urban conditions. The temperature and respiration rate was then recorded to verify the system operation. We measured the power consumption to evaluate the low energy performance of the device which is vital aspect of the telemedical wearable system.

关键词： assisted living systems Bluetooth Low Energy wearable sensors telemedicine Wearable sensors Telerehabilitation Building systems Operating systems LOW ENERGY Bluetooth CARRIER SYSTEM Organism Power consumption Respiratory Rate

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PettingZoo: Gym for Multi-Agent Reinforcement Learning

arXiv

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arXiv 2020年

作者： Terry, Justin K. Black, Benjamin Grammel, Nathaniel Jayakumar, Mario Hari, Ananth Sullivan, Ryan Santos, Luis Perez, Rodrigo Horsch, Caroline Dieffendahl, Clemens Williams, Niall L. Lokesh, Yashas Ravi, Praveen Swarm Labs Department of Computer Science University of Maryland College Park United States Department of Electrical and Computer Engineering University of Maryland College Park United States Department of Mechanical Engineering University of Maryland College Park United States Maryland Robotics Center University of Maryland College Park United States Faculty of Electrical Engineering and Computer Science Technical University of Berlin

This paper introduces the PettingZoo library and the accompanying Agent Environment Cycle ("AEC") games model. PettingZoo is a library of diverse sets of multi-agent environments with a universal, elegant Python API. PettingZoo was developed with the goal of accelerating research in Multi-Agent Reinforcement Learning ("MARL"), by making work more interchangeable, accessible and reproducible akin to what OpenAI's Gym library did for single-agent reinforcement learning. PettingZoo's API, while inheriting many features of Gym, is unique amongst MARL APIs in that it's based around the novel AEC games model. We argue, in part through case studies on major problems in popular MARL environments, that the popular game models are poor conceptual models of games commonly used in MARL and accordingly can promote confusing bugs that are hard to detect, and that the AEC games model addresses these problems. Copyright © 2020, The Authors. All rights reserved.

关键词： Fertilizers

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Study of maximum electric power consumption to produce hydrogen from urine and normal water

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AIP Conference Proceedings 2023年第1期2845卷

作者： Bhishma Karki Saddam Husain Dhobi Jeevan Jyoti Nakarmi Digvijay Pandey Sahar R. Abdul Kadeem Ahmed J. Obaid Trichandra Multiple Campus Tribhuvan University Kathmandu Nepal Patan Multiple Campus Lalitpur-44600 Tribhuvan University Kathmandu Nepal Robotics Academy of Nepal Lalitpur-44700 Nepal A.P.J. Abdul Kalam Technical University Uttar Pradesh India National University of Science and Technology Dhi Qar Iraq Faculty of Computer Science and Mathematics University of Kufa Najaf Iraq

The production of hydrogen from urine as an electrolyte is about 6 to 9times faster than water as electrolyte measured at constant voltage 10V, 15V, 19V, 23V, 27V, and 30V per minute. The power consumption for urine electrolytes is higher than water-electrolyte was observed. Such a rate producesan increase in the efficiency of hydrogen production which is future energy. The utilization of urine rather than water as an electrolyte control soil and water pollution. Urine electrolyte has more beneficial than water because water-electrolyte needed chemical (acid or base) to increase the efficiency of hydrogen production, have to buy and transport while but urine electrolyte has no such problem.

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MCOA: A Multistrategy Collaborative Enhanced Crayfish Optimization Algorithm for Engineering Design and UAV Path Planning

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International Journal of Intelligent Systems 2025年第1期2025卷

作者： Yaning Xiao Hao Cui Ruba Abu Khurma Abdelazim G. Hussien Pedro A. Castillo School of Automation and Intelligent Manufacturing Southern University of Science and Technology Shenzhen 518055 China *** College of Mechanical and Electrical Engineering Northeast Forestry University Harbin 150040 China *** Information Technology Department Al-Huson University College Al-Balqa Applied University Irbid 19117 Jordan bau.edu.jo Department of Computer and Information Science Linköping University Linköping 58183 Sweden liu.se Faculty of Science Fayoum University Faiyum 63514 Egypt fayoum.edu.eg Department of Computer Engineering Automatics and Robotics University of Granada Granada 18071 Spain ugr.es

The crayfish optimization algorithm (COA) is a recent bionic optimization technique that mimics the summer sheltering, foraging, and competitive behaviors of crayfish. Although COA has outperformed some classical metaheuristic (MH) algorithms in preliminary studies, it still manifests the shortcomings of falling into local optimal stagnation, slow convergence speed, and exploration–exploitation imbalance in addressing intractable optimization problems. To alleviate these limitations, this study introduces a novel modified crayfish optimization algorithm with multiple search strategies, abbreviated as MCOA. First, specular reflection learning is implemented in the initial iterations to enrich population diversity and broaden the search scope. Then, the location update equation in the exploration procedure of COA is supplanted by the expanded exploration strategy adopted from Aquila optimizer (AO), endowing the proposed algorithm with a more efficient exploration power. Subsequently, the motion characteristics inherent to Lévy flight are embedded into local exploitation to aid the search agent in converging more efficiently toward the global optimum. Finally, a vertical crossover operator is meticulously designed to prevent trapping in local optima and to balance exploration and exploitation more robustly. The proposed MCOA is compared against twelve advanced optimization algorithms and nine similar improved variants on the IEEE CEC2005, CEC2019, and CEC2022 test sets. The experimental results demonstrate the reliable optimization capability of MCOA, which separately achieves the minimum Friedman average ranking values of 1.1304, 1.7000, and 1.3333 on the three test benchmarks. In most test cases, MCOA can outperform other comparison methods regarding solution accuracy, convergence speed, and stability. The practicality of MCOA has been further corroborated through its application to seven engineering design issues and unmanned aerial vehicle (UAV) path planning tasks

关键词： crayfish optimization algorithm engineering optimization expanded exploration strategy Lévy flight specular reflection learning vertical crossover operator

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Investigation of the effect of a composite material on rocket fin flutter speed

Investigation of the effect of a composite material on rocke...

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AIAA Propulsion and Energy Forum and Exposition, 2019

作者： Rydz, Zuzanna Palacz, Tomasz Kolusz, Adam Guzik, Mateusz Faculty of Materials Science and Ceramics AGH Space Systems AGH University of Science and Technology al. Mickiewicza 30 Cracow30-059 Poland Faculty of Physics and Computer Science AGH Space Systems AGH University of Science and Technology al. Mickiewicza 30 Cracow30-059 Poland Faculty of Mechanical Engineering and Robotics AGH Space Systems AGH University of Science and Technology al. Mickiewicza 30 Cracow30-059 Poland

ISBN: (纸本)9781624105906

The main purpose of this study is to investigate the effect of various core materials and number of fiberglass layers on flutter characteristics for sounding rocket fins. Three type of composite sandwich cores: PVC foam, Nomex honeycomb and 3D printed core have been used along with varying number of fiberglass layers. Fin samples were manufactured and their frequency response were measured to find bending and torsional natural frequencies. This data has been used in the k-method analysis. As a result, flutter characteristics like critical velocity and frequency were determined for all the samples. © 2019 by American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Foams

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A SLIPT-assisted Visible Light Communication Scheme

A SLIPT-assisted Visible Light Communication Scheme

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International Conference on Distributed Computing in Sensor Systems (DCOSS)

作者： Sumali S. Morapitiya Mohammad Furqan Ali Samikkannu Rajkumar Sanika K. Wijayasekara Dushantha Nalin K. Jayakody R.U. Weerasuriya Faculty of Engineering General Sir John Kotelawala Defence University Sri Lanka School of Computer Science and Robotics National Research Tomsk Polytechnic University Tomsk Russia Centre of Telecommunications Research School of Engineering Padukka Sri Lanka Faculty of Engineering University of Moratuwa Sri Lanka

ISBN: (数字)9781728143514

ISBN: (纸本)9781728198040

Simultaneous Wireless Information and Power Transfer (SWIPT) technique is introduced in Radio Frequency (RF) communication to carry both information and power in same medium. In this approach, the energy can be harvested while decoding the information carries in an RF wave. Recently, the same concept applied in Visible Light Communication (VLC) namely Simultaneous Light Wave Information and Power Transfer (SLIPT), which is highly recommended in an indoor applications to overcome the problem facing in RF communication. Thus, SLIPT is introduced to transmit the power through a Light Emitting Diode (LED) luminaries. In this work, we compare both SWIPT and SLIPT technologies and realize SLIPT technology archives increased performance in terms of the amount of harvested energy, outage probability and error rate performance.

关键词： Wireless communication Radio frequency Communication system security Optical receivers Numerical models Energy harvesting

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Key information technologies for digital economy

Key information technologies for digital economy

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2018 Multidisciplinary Symposium on computer science and ICT, REMS 2018

作者： Yusupova, Nafisa Mironov, Konstantin Faculty of Computer Science and Robotics Ufa State Aviation Technical University Ufa Russia

The paper is dedicated to the key information technologies, which are important for the economic progress of various countries. Common properties of the IT sphere are discussed. Examples of research work at Ufa State Aviation Technical University are given for the topics of Big Data, Artificial Intelligence, robotics and Sensorics. Copyright © by the paper’s authors.

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Placental Vessel Segmentation and Registration in Fetoscopy: Literature Review and MICCAI FetReg2021 Challenge Findings

arXiv

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arXiv 2022年

作者： Bano, Sophia Casella, Alessandro Vasconcelos, Francisco Qayyum, Abdul Benzinou, Abdesslam Mazher, Moona Meriaudeau, Fabrice Lena, Chiara Cintorrino, Ilaria Anita De Paolis, Gaia Romana Biagioli, Jessica Grechishnikova, Daria Jiao, Jing Bai, Bizhe Qiao, Yanyan Bhattarai, Binod Gaire, Rebati Raman Subedi, Ronast Vazquez, Eduard Plotka, Szymon Lisowska, Aneta Sitek, Arkadiusz Attilakos, George Wimalasundera, Ruwan David, Anna L. Paladini, Dario Deprest, Jan De Momi, Elena Mattos, Leonardo S. Moccia, Sara Stoyanov, Danail Department of Computer Science University College London United Kingdom Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Electronics Information and Bioengineering Politecnico di Milano Italy The BioRobotics Institute Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna Italy Fetal Medicine Unit Elizabeth Garrett Anderson Wing University College London Hospital United Kingdom EGA Institute for Women's Health Faculty of Population Health Sciences University College London United Kingdom Department of Development and Regeneration University Hospital Leuven Belgium Department of Fetal and Perinatal Medicine Istituto Giannina Gaslini Italy ENIB UMR CNRS 6285 LabSTICC 29238 France Department of Computer Engineering and Mathematics University Rovira i Virgili Spain ImViA Laboratory University of Bourgogne Franche-Comté France Physics Department Lomonosov Moscow State University Russia Fudan University China Medical Computer Vision and Robotics Group Department of Mathematical and Computational Sciences University of Toronto Canada Co. Ltd China NepAL Applied Mathematics and Informatics Institute for Research Nepal Redev Technology United Kingdom Sano Center for Computational Medicine Poland Quantitative Healthcare Analysis Group Informatics Institute University of Amsterdam Amsterdam Netherlands Center for Advanced Medical Computing and Simulation Massachusetts General Hospital Harvard Medical School BostonMA United States

Fetoscopy laser photocoagulation is a widely adopted procedure for treating Twin-to-Twin Transfusion Syndrome (TTTS). The procedure involves photocoagulation pathological anastomoses to restore a physiological blood exchange among twins. The procedure is particularly challenging, from the surgeon's side, due to the limited field of view, poor manoeuvrability of the fetoscope, poor visibility due to amniotic fluid turbidity, and variability in illumination. These challenges may lead to increased surgery time and incomplete ablation of pathological anastomoses, resulting in persistent TTTS. computer-assisted intervention (CAI) can provide TTTS surgeons with decision support and context awareness by identifying key structures in the scene and expanding the fetoscopic field of view through video mosaicking. Research in this domain has been hampered by the lack of high-quality data to design, develop and test CAI algorithms. Through the Fetoscopic Placental Vessel Segmentation and Registration (FetReg2021) challenge, which was organized as part of the MICCAI2021 Endoscopic Vision (EndoVis) challenge, we released the first large-scale multi-center TTTS dataset for the development of generalized and robust semantic segmentation and video mosaicking algorithms with a focus on creating drift-free mosaics from long duration fetoscopy videos. For this challenge, we released a dataset of 2060 images, pixel-annotated for vessels, tool, fetus and background classes, from 18 in-vivo TTTS fetoscopy procedures and 18 short video clips of an average length of 411 frames for developing placental scene segmentation and frame registration for mosaicking techniques. Seven teams participated in this challenge and their model performance was assessed on an unseen test dataset of 658 pixel-annotated images from 6 fetoscopic procedures and 6 short clips. The challenge provided an opportunity for creating generalized solutions for fetoscopic scene understanding and mosaicking. In this paper,

关键词： Pixels

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Using micro- and macro-level network metrics unveils top communicative gene modules in psoriasis

arXiv

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arXiv 2020年

作者： Naderi, Reyhaneh Mollaei, Homa Saadati Elofsson, Arne Ashtiani, Saman Hosseini Department of Artificial Intelligence and Robotics Faculty of Computer Engineering Iran University of Science and Technology Tehran Iran Department of Advanced Sciences and Technology Islamic Azad University Medical Branch Tehran Iran Department of Biochemistry and Biophysics and Science for Life Laboratory Stockholm University Stockholm106 91 Sweden

Background: Psoriasis is a multifactorial chronic inflammatory disorder of the skin with significant morbidity, characterized by hyper proliferation of the epidermis. Even though psoriasis etiology is not fully understood, it is believed to be multifactorial with numerous key components. Methods: In order to cast light on the complex molecular interactions in psoriasis vulgaris at both protein-protein interactions and transcriptomics levels, we analyzed a set of microarray gene expression analysis consisting of 170 paired lesional and non-lesional samples. Afterwards, a network analysis was conducted on protein-protein interaction network of differentially expressed genes based on micro- and macro-level network metrics at a systemic level standpoint. Results: We found 17 top communicative genes, all of which experimentally proven to be pivotal in psoriasis were identified in two modules, namely, cell cycle and immune system. Intra- and inter-gene interaction subnetworks from the top communicative genes might provide further insight into the corresponding characteristic mechanisms. Conclusions: Potential gene combinations for therapeutic/diagnostics purposes were identified. Moreover, our proposed pipeline could be of interest to a broader range of biological network analysis *** Codes 92C42 Copyright © 2020, The Authors. All rights reserved.

关键词： Dermatology

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