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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Manuel B. Couto Marcelo R. Petry Abel Mendes Manuel F. Silva CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal FEUP - Faculty of Engineering University of Porto Porto Portugal Flowbotic Coimbra Portugal ISEP - Instituto Superior de Engenharia do Porto Instituto Politécnico do Porto Porto Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

The growing reliance on e-commerce and the demand for efficient intralogistics operations have increased the need for automation, while labour shortages continue to pose significant challenges. When combined with the inherent risks of forklift operation, this circumstance prompted businesses to look for robotic solutions for intralogistics tasks. However, robots are still limited when they come across situations that are outside of their programming scope and often need assistance from humans. To achieve the long-term goal of enhancing intralogistics operation, we propose the development of a virtual reality-based teleoperation system that allows remote operation of robot forklifts with minimal latency. Considering the specificities of the teleoperation process and network dynamics, we conduct detailed modelling to analyse latency factors, optimise system performance, and ensure a seamless user experience. Experimental results on a mobile robot have shown that the proposed teleoperation system achieves an average glass-to-glass latency of 368 ms, with capturing latency contributing to approximately 60% of the total delay. The results also indicate that network os-cillations significantly impact image quality and user experience, emphasising the importance of a stable network infrastructure.

关键词： Radio frequency Visualization 5G mobile communication System performance Robot vision systems Virtual reality Cameras User experience Wireless fidelity Testing

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Integrated RFID System for Intralogistics Operations with Industrial Mobile Robots

Integrated RFID System for Intralogistics Operations with In...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Fábio Daniel Pacheco Paulo M. Rebelo Ricardo B. Sousa Manuel F. Silva Hélio S. Mendonça INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal ISEP Polytechnic of Porto Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Radio-Frequency IDentification (RFID) technologies automate the identification of objects and persons, having several applications in retail, manufacturing, and intralogistics sectors. Several works explore the application of RFID systems in robotics and intralogistics, focusing on locating robots, tags, and inventory management. This paper addresses the challenge of intralogistics cargo trolleys communicating their characteristics to an autonomous mobile robot through an RFID system. The robot must know the trolley's relative pose to avoid collisions with the surroundings. As a result, the passive tag on the cargo communicates information to the robot, including the base footprint of the trolley. The proposed RFID system includes the development of a controller board to interact with the frontend integrated circuit of an external antenna onboard the industrial mobile robot. Experimental results assess the system's readability distance in two distinct environments and with two different antenna modules. All the code and documentation are available in a public repository.

关键词： Wireless communication Wireless sensor networks Service robots Robot sensing systems Sensors Mobile robots Object recognition Collision avoidance Radiofrequency identification Autonomous robots

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Oral cavity carcinoma detection using BAT algorithm-optimized machine learning models with transfer learning and random sampling

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computers in Biology and Medicine 2025年第Pt B期192卷 110250-110250页

作者： Folorunso, Sakinat O. Abdulwarith, Akinshipo Adeniyi, Abidemi Emmanuel Aworinde, Halleluyah Oluwatobi Awotunde, Joseph Bamidele Artificial Intelligence Systems Research Group Department of Computer Science Olabisi Onabanjo University Ago-Iwoye Nigeria Department of Oral and Maxillofacial Pathology and Biology Faculty of Dentistry University of Lagos Lagos Nigeria Department of Computer Science College of Computing and Communication Studies Bowen University Iwo Nigeria Chitkara University Institute of Engineering and Technology Chitkara University Punjab India MIVA Open University Abuja Nigeria Department of Information Technology Durban University of Technology KZ Durban South Africa Department of Computer Science Faculty of Communication and Information Sciences University of Ilorin Nigeria

Background: Oral cavity carcinoma remains a major public health concern, where early and accurate detection is vital for improving patient outcomes and survival rates. Current diagnostic systems often face challenges such as limited feature selection capabilities, imbalanced datasets, and computational inefficiencies. Methods: This study proposes a novel diagnostic framework TR-ROS-BAT-ML that integrates transfer learning, random sampling, and a BAT algorithm-based optimization strategy with ensemble machine learning classifiers. A dataset comprising 1224 hematoxylin and eosin (H&E)-stained histological images (at 100x and 400x magnifications) of normal oral epithelium and Oral Squamous Cell Carcinoma (OSCC) was collected from 230 patients using a Leica ICC50 HD microscopy camera. Pre-trained deep learning models (NANSNetLarge, EfficientNetB7, EfficientNetV2L, EfficientNetV2S, EfficientNetV2M) were employed for feature extraction. To address class imbalance, random oversampling techniques were applied. The BAT algorithm, inspired by bat echolocation behavior, was used for feature selection and hyperparameter tuning. Optimized features were classified using ensemble methods, including XGBoost, AdaBoost, Extra Trees (ET), Histogram-Based Gradient Boosting (HBGC), and MultiLayer Perceptron (MLP). Results: The proposed approach achieved high diagnostic performance across multiple model combinations. The best performance was recorded with the optimized ET model using random oversampling, achieving a recall of 0.992, demonstrating its efficacy in detecting oral lesions. In contrast, the combination of EfficientNetV2S + ROS + MLP yielded the lowest accuracy at 50.8 %. These results confirm the robustness of the TR-ROS-BAT-ML framework in handling imbalanced datasets and optimizing classification performance. Conclusions: This study demonstrates the effectiveness of combining nature-inspired optimization, transfer learning, and ensemble machine learning for enhanced detecti

关键词： Adaptive boosting

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An Energy-Aware RIoT System: Analysis, Modeling and Prediction in the SUPERIOT Framework

arXiv

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arXiv 2025年

作者： Bocus, Mohammud J. Häkkinen, Juha Fontes, Hélder Drzewiecki, Marcin Qiu, Senhui Eder, Kerstin Piechocki, Robert School of Computer Science University of Bristol Bristol United Kingdom Circuits and Systems Research Unit University of Oulu Oulu Finland MpicoSys Embedded Pico Systems Sp. z o. o. Gdynia Poland Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdansk Poland INESC TEC Porto Portugal Faculty of Engineering University of Porto Porto Portugal

his paper presents a comprehensive analysis of the energy consumption characteristics of a Silicon (Si)-based Reconfigurable IoT (RIoT) node developed in the initial phase of the SUPERIOT project, focusing on key operating states, including Bluetooth Low Energy (BLE) communication, Narrow-Band Visible Light Communication (NBVLC), sensing, and E-ink display. Extensive measurements were conducted to establish a detailed energy profile, which serves as a benchmark for evaluating the effectiveness of subsequent optimizations and future node iterations. To minimize the energy consumption, multiple optimizations were implemented at both the software and hardware levels, achieving a reduction of over 60% in total energy usage through software modifications alone. Further improvements were realized by optimizing the E-ink display driving waveform and implementing a very low-power mode for non-communication activities. Based on the measured data, three measurement-based energy consumption models were developed to characterize the energy behavior of the node under: (i) normal, unoptimized operation, (ii) low-power, software-optimized operation, and (iii) very low-power, hardware-optimized operation. These models, validated with new measurement data, achieved an accuracy exceeding 97%, confirming their reliability for predicting energy consumption in diverse configurations. © 2025, CC BY.

关键词： Digital storage

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TELEX: Two-Level Learned Index for Rich Queries on Enclave-based Blockchain systems

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IEEE Transactions on Knowledge and Data engineering 2025年

作者： Wu, Haotian Tang, Yuzhe Shen, Zhaoyan Tao, Jun Lin, Chenhao Peng, Zhe The Hong Kong Polytechnic University Department of Industrial and Systems Engineering Hong Kong Syracuse University Department of Electrical Engineering and Computer Science United States Shandong University School of Computer Science and Technology China Southeast University School of Cyber Science and Engineering China Xi'an Jiaotong University Faculty of Electronic and Information Engineering China The Hong Kong Polytechnic University Shenzhen Research Institute Hong Kong

Blockchain has become a popular paradigm for secure and immutable data storage. Despite its numerous applications across various fields, concerns regarding the user privacy and result integrity during data queries persist. Additionally, the need for rich query functionalities to harness the full potential of blockchain data remains an area ripe for exploration. In order to address these challenges, our paper first utilizes a framework based on the Trusted Execution Environment (TEE) and oblivious RAM technique to achieve both privacy and data integrity. To enhance the query efficiency over the entire blockchain, we then devise a two-level learned indexing methodology named TELEX within the TEE for both integer and string keys. We also propose different query processing algorithms for versatile query types, including exact queries, aggregate queries, Boolean queries, and range queries. By implementing the prototype and conducting extensive evaluation, we demonstrate the feasibility and remarkable improvement in efficiency compared to existing solutions. © 1989-2012 IEEE.

关键词： Query languages

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Hierarchical Continual Learning for Domain-Knowledge Retention in Healthcare Federated Learning

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IEEE Transactions on Consumer Electronics 2025年

作者： Iqbal, Saeed Zhong, Xiaopin Khan, Muhammad Attique Wu, Zongze AlHammadi, Dina Abdulaziz Liu, Weixiang Choudhry, Imran Arshad Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Prince Mohammad Bin Fahd University Department of AI Alkhobar Saudi Arabia Princess Nourah bint Abdulrahman University College of Computer and Information Sciences Department of Information Systems Riyadh11671 Saudi Arabia University of Central Punjab Faculty of Information Technology and Computer Science Department of Software Engineering Lahore Pakistan

Internet of Medical Things (IoMT) applications encounter issues with data protection, continual adaptation, and domain-specific knowledge retention, especially in consumer-centric IoMT scenarios. We overcome these obstacles and facilitate effective knowledge retention and task adaptation in IoMT applications. This study attempts to create a unique privacy-preserving federated learning framework that combines a hierarchical learning structure with Continual Learning (CL). Despite the advancements in Federated Learning (FL), current models have trouble integrating changing datasets in real-time while protecting privacy, as well as catastrophic forgetting, which occurs when previously learned knowledge is lost when adjusting to new tasks. We present a hierarchical learning framework that makes use of three levels of models -Junior Model (JM), Consultant Model (CM), and Senior Consultant Model (SCM) -to overcome these drawbacks. Each level of the model aids in archived retention and domain-knowledge adaptation. To guarantee that the model maintains valuable information over time and adapts to new tasks with ease, our method blends domain adaptation strategies with ongoing learning approaches like knowledge distillation and elastic weight consolidation (EWC). We compare the suggested methodology with current state-of-the-art (SOTA) models on healthcare datasets for tasks like illness diagnosis and medical image categorization. According to our findings, the hierarchical continual learning model performs better than SOTA techniques in terms of accuracy, task adaptability, and privacy protection. In the healthcare industry, our study sets a new standard for privacy-preserving, continuously adaptable federated learning systems, allowing for real-time, scalable IoMT applications that can adapt dynamically to a variety of changing datasets. © 1975-2011 IEEE.

关键词： Patient treatment

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Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap

arXiv

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arXiv 2025年

作者： Xu, Jianye Alrifaee, Bassam Betz, Johannes Mokhtarian, Armin Mittal, Archak Cai, Mengchi Mangharam, Rahul Shehata, Omar M. Elias, Catherine M. Zaech, Jan-Nico Scheffe, Patrick Jahncke, Felix Ulhas, Sangeet Sankaramangalam Arfvidsson, Kaj Munhoz Department of Computer Science RWTH Aachen University Germany Department of Aerospace Engineering University of the Bundeswehr Munich Germany Professorship of Autonomous Vehicle Systems Technical University of Munich Germany Department of Civil Engineering Indian Institute of Technology Bombay India School of Vehicle and Mobility Tsinghua University China Department of Electrical and Systems Engineering University of Pennsylvania United States Mechatronics Engineering Department Faculty of Engineering and Materials Science The German University in Cairo Egypt Department of Computer Science Engineering The German University in Cairo Egypt INSAIT Sofia University "St. Kliment Ohridski" Bulgaria School for Engineering of Matter Transport and Energy Arizona State University United States Division of Decision and Control Systems KTH Royal Institute of Technology Sweden

This article proposes a roadmap to address the current challenges in small-scale testbeds for Connected and Automated Vehicles (CAVs) and robot swarms. The roadmap is a joint effort of participants in the workshop "1st Workshop on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms," held on June 2 at the IEEE Intelligent Vehicles Symposium (IV) 2024 in Jeju, South Korea. The roadmap contains three parts: 1) enhancing accessibility and diversity, especially for underrepresented communities, 2) sharing best practices for the development and maintenance of testbeds, and 3) connecting testbeds through an abstraction layer to support collaboration. The workshop features eight invited speakers, four contributed papers [1]–[4], and a presentation of a survey paper on testbeds [5]. The survey paper provides an online comparative table of more than 25 testbeds, available at https://***/testbeds-survey. The workshop’s own website is available at https://***/iv24-workshop. Copyright © 2025, The Authors. All rights reserved.

关键词： Testbeds

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AR/VR Digital Twin for Simulation and Data Collection of Robotic Environments

AR/VR Digital Twin for Simulation and Data Collection of Rob...

引用

IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： João G. Martins Karle Nutonen Paulo Costa Vladimir Kuts Tauno Otto Armando Sousa Marcelo R. Petry CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal ViruTech - Virumaa innovation center of digitalization and green technologies Taltech Virumaa College Kohtla-Jarve Estonia Department of Mechanical and Indusrial Taltech Tallinn Estonia

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Digital twins enable real-time modeling, simulation, and monitoring of complex systems, driving advancements in automation, robotics, and industrial applications. This study presents a large-scale digital twin-testing facility for evaluating mobile robots and pilot robotic systems in a research laboratory environment. The platform integrates high-fidelity physical and environmental models, providing a controlled yet dynamic setting for analyzing robotic behavior. A key feature of the system is its comprehensive data collection framework, capturing critical parameters such as position, orientation, and velocity, which can be leveraged for machine learning, performance optimization, and decision-making. The facility also supports the simulation of discrete operational systems, using predictive modeling to bridge informational gaps when real-time data updates are unavailable. The digital twin was validated through a matrix manufacturing system simulation, with an Augmented Reality (AR) interface on the HoloLens 2 to overlay digital information onto mobile platform controllers, enhancing situational awareness. The main contributions include a digital twin framework for deploying data-driven robotic systems and three key AR/VR integration optimization methods. Demonstrated in a laboratory setting, the system is a versatile tool for research and industrial applications, fostering insights into robotic automation and digital twin scalability while reducing costs and risks associated with real-world testing.

关键词： Service robots Navigation Metaverse Databases Scalability Digital representation Real-time systems Digital twins Mobile robots Robots

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Distributed Event-Triggered Bandit Convex Optimization With Time-Varying Constraints

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IEEE Transactions on Control of Network systems 2025年

作者： Zhang, Kunpeng Yi, Xinlei Wen, Guanghui Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210 China Southeast University School of Automation Nanjing210096 China University of Groningen Engineering and Technology Institute Groningen Faculty of Science and Engineering GroningenAG 9747 Netherlands KTH Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm10044 Sweden KTH Royal Institute of Technology Digital Futures Stockholm10044 Sweden

This paper considers the distributed bandit convex optimization problem with time-varying inequality constraints over a network of agents, where the goal is to minimize network regret and cumulative constraint violation. Existing distributed online algorithms solving this problem require that each agent broadcasts its decision to its neighbors at each iteration. However, communication resources are often limited. To better utilize communication resources, we propose a distributed event-triggered online primal-dual algorithm with two-point bandit feedback. Under several classes of appropriately chosen decreasing parameter sequences and non-increasing event-triggered threshold sequences, we establish dynamic network regret and network cumulative constraint violation bounds. These bounds are comparable to the results achieved by distributed event-triggered online algorithms with full-information feedback. Finally, a numerical example is provided to verify the theoretical results. © 2014 IEEE.

关键词： Optimization algorithms

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Enhanced Glaucoma Classification Through Advanced Segmentation by Integrating Cup-to-Disc Ratio and Neuro-Retinal Rim Features

SSRN

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SSRN 2025年

作者： Pannu, Rabia Zubair, Muhammad Owais, Muhammad Hassan, Shoaib Umair, Muhammad Usman, Syed Muhammad Al-Bashrawi, Mousa Ahmed Hussain, Irfan Faculty of Information Technology and Computer Science University of Central Punjab Lahore Pakistan Interdisciplinary Research Center for Finance and Digital Economy King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Department of Mechanical Nuclear Engineering Khalifa University Abu Dhabi United Arab Emirates School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Department of Computer Science Bahria School of Engineering and Applied Sciences Bahria University Islamabad Pakistan Department of Information Systems and Operations Management King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia

Glaucoma is a progressive eye condition caused by high intraocular fluid pressure, damaging the optic nerve, leading to gradual, irreversible vision loss, often without noticeable symptoms. Subtle signs such as mild redness in the eyes, slightly blurred vision, and occasional headaches or eye pain may go unnoticed, earning it the nickname "silent thief of sight." Its prevalence is increasing with an aging population, driven by advances in healthcare care and increased life expectancy. Most computer-aided diagnosis (CAD) systems rely on the cup-to-disc ratio (CDR) for the diagnosis of glaucoma. This study introduces a novel approach by integrating CDR with the neuro-retinal rim ratio (NRR), which quantifies rim thickness within the optic disc (OD). NRR improves diagnostic accuracy by recording additional head changes of the optic nerve, such as rim thinning and tissue loss, which were overlooked using CDR alone. We proposed a modified ResUNet architecture for OD and optic cup (OC) segmentation, combining residual learning and U-Net to capture spatial context for semantic segmentation. Its performance was evaluated on the DRISHTI-GS and RIM-ONE datasets. For OC segmentation, the model achieved Dice Coefficient (DC) scores of 0.942 and 0.872 and Intersection over Union (IoU) values of 0.891 and 0.773 for DRISHTI-GS and RIM-ONE, respectively. For OD segmentation, the model achieved DC of 0.972 and 0.950 and IoU values of 0.945 and 0.940 for DRISHTI-GS and RIM-ONE, respectively. CDR and NRR were calculated from segmentation masks and used to train an SVM with a radial basis function, classifying the eyes as healthy or glaucomatous. The model achieved accuracies of 0.969 on DRISHTI-GS and 0.977 on RIM-ONE. © 2025, The Authors. All rights reserved.

关键词： Semantic Segmentation

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