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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Alibekov, Ulugbek Banerjee, Avijit Satpute, Sumeet Gajanan Nikolakopoulos, George ERASMUS MUNDUS JOINT MASTER in Intelligent Field Robotic Systems Faculty of Informatics Eötvös Loránd University Budapest Hungary Robotics and AI research group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article presents an onboard perception-assisted high-fidelity simulation framework for autonomous planetary soft-landing, enabling visual information processing tightly integrated with advanced onboard guidance system in a realistic simulation environments. Utilizing the open source Unity game engine, a physics-based simulation toolbox integrated with the Robotic Operating System (ROS2), we effectively emulate the motion of spacecraft approaching planetary terrain. The simulation environment features a realistic 3D terrain model and a lander spacecraft equipped with onboard camera to effectively capture detailed local terrain images. The simulation engine accurately captures the spacecraft’s 6-degrees of freedom motion, seamlessly integrating space craft orientation with the associated camera feed while incorporating various illumination conditions using a light source representing the Sun. To demonstrate the efficacy of the framework, we implement a recently developed attitude-constrained minimum jerk guidance algorithm to emulate spacecraft motion. Concurrently, the visual feed from the onboard RGB camera is processed through a gradient extraction-based perception system, providing the visual odometer. This system identifies provably safe landing sites, effectively avoiding potential risks of landing on uneven terrain. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Planetary landers

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Design and Development of a Fixed-Wing Tail-Sitter Tethered VTOL Drone with Custom Autopilot and Robust Control Techniques

Design and Development of a Fixed-Wing Tail-Sitter Tether...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Safaee, Ahmad Aguiar, A. Pedro Santos, Filipe Neves Moreira, Antonio Paulo SYSTEC-ARISE Research Center for Systems and Technologies Faculty of Engineering University of Porto Porto 4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering Technology and Science CRIIS-Centre for Robotics in Industry and Intelligent Systems Porto 4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering and DEEC/FEUP - Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto 4200-465 Portugal

ISBN: (纸本)9783031817236

The need for aerial platforms capable of sustained operation is critical in fields such as surveillance, agricultural monitoring, disaster response, and temporary telecommunication systems. Traditional unmanned aerial vehicles (UAVs) are hampered by limited battery capacity and inefficient energy utilization. This paper introduces an autonomous vertical flight drone tethered to a ground-based platform, which overcomes these limitations. The drone is designed to optimize its position and energy usage by harnessing wind currents, functioning similarly to a kite when conditions permit. This is enabled by a custom-designed autopilot system comprising both hardware and software tailored for this application. We detail the model identification process for three vertical take-off and landing (VTOL) drone systems, employing authentic data that measures lateral positional errors from the tether. Robust mixed sensitivity controllers are developed and implemented. The effectiveness of these controllers is validated through simulations showing their capability to handle uncertainties. Furthermore, the practical application and robust performance of the system are confirmed by a real-world case study, highlighting its potential in real operational environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： mixed sensitivity robust controller tether VTOL

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Aligning Food Ingredients with Multiple Semantic Resources

Aligning Food Ingredients with Multiple Semantic Resources

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16th International Conference on ICT Innovations, ICT Innovations 2024

作者： Sasanski, Darko Todorovski, Andrej Trpeski, Bojan Trajanov, Dimitar Eftimov, Tome Stojanov, Riste Faculty of Computer Science and Engineering Ss. Cyril and Methodius University Skopje North Macedonia Computer Systems Department Jozef Stefan Institute Ljubljana Slovenia

ISBN: (纸本)9783031861611

To address the lack of integrated resources that combine nutritional, chemical, and semantic information, we have integrated the Recipe1M+ dataset with the USDA National Nutrient Database, FooDB, and the FoodOn ontology. This integration brings significant advantages by enriching the dataset with comprehensive information across multiple domains. By linking Recipe1M+ ingredients to the USDA database, we provide detailed nutritional profiles that enable a comprehensive analysis of recipes, supporting researchers and dietitians in developing personalized nutrition plans based on accurate nutrient data. Furthermore, incorporating FooDB enhances the dataset with in-depth chemical compositions and health effects of food constituents, facilitating research on functional foods and their role in disease prevention and health promotion. Mapping ingredients to FoodOn further expands the dataset’s semantic context, encompassing food products, production, agriculture, and environmental impacts. This integration promotes interdisciplinary research and the creation of comprehensive knowledge graphs, bridging gaps between nutrition, food science, agriculture, and health domains. Our methodology has been validated, demonstrating significantly better results with a precision of 76.25%. Adhering to the FAIR principles, we ensure the data is findable, accessible, interoperable, and reusable. The enriched Recipe1M+ dataset supports advanced applications, such as predictive modeling of dietary impacts, food recommendation systems, and sustainable food system studies, making it a valuable resource for the research community and beyond (The data and code are publicly available at the following link). © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Entity Linking Functional Foods Knowledge Graphs Name Normalization Nutritional Profiles Semantic Resources

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Bee Colony-Reptile Search Optimization Technique for Blood Cell Cancer Detection

Bee Colony-Reptile Search Optimization Technique for Blood C...

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International Conference on computer and Automation engineering, ICCAE

作者： Aziza I. Hussein Mohammed Ali Saleh Rabab Hamed M. Aly Energy and Technology Research Center College of Engineering Effat University Jeddah Saudi Arabia Computer and Systems Engineering Department Faculty of Engineering Helwan University Egypt Computer Science Department Faculty of Computer Science Nahda University Beni Suef Egypt The Higher Institute for Management and Information Technology Minya Egypt

ISBN: (数字)9798331533816

ISBN: (纸本)9798331533823

The biosystem is a crucial system grounded in classification and detection, utilizing Artificial Intelligence (AI) approaches or metaheuristic techniques. Currently, cancer of the blood cells is among the deadliest cancers in the world. Acute lymphoblastic leukemia (ALL) is a cancer of blood cells that causes excessive proliferation of lymphocytes. It is extremely time-consuming and expensive to conduct diagnostic calculations. The number of platelets in a patient's blood is computed by a platelet count. A lacking number of platelets can indicate cancer, infection, or other health problems. A patient with too many platelets is at risk for blood strokes. A single drop of blood includes tens of thousands of platelets. The main goal of this paper is how to detect the features of blood cells and classify with predicting cancer type based on platelets analysis by using Bee Colony followed by Reptile Search Optimization (BCRSO) technique. According to the results, BCRSO algorithm performed better in terms of classification efficacy and accuracy rate than other algorithms. Based on simulation results, the proposed method is more effective than previously published research for classification optimization.

关键词： Accuracy Blood platelets Simulation Metaheuristics Cells (biology) Prediction algorithms Cancer detection Classification algorithms Artificial intelligence Cancer

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A novel deep learning model for early diabetes risk prediction using attention-enhanced deep belief networks with highly imbalanced data

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International Journal of Information Technology (Singapore) 2025年第4期17卷 1933-1955页

作者： Olabanjo, Olusola Wusu, Ashiribo Olabanjo, Olufemi Asokere, Mauton Afisi, Oseni Akinnuwesi, Boluwaji Center for Equitable AI and Machine Learning Systems (CEAMLS) Morgan State University Baltimore 21251 MD United States Department of Mathematics Morgan State University Baltimore MD United States Department of Computer Science Lagos State University Lagos Nigeria Department of Mathematics Lagos State University Lagos Nigeria Department of Cybersecurity University of Derby Derby United Kingdom Department of Philosophy Lagos State University Lagos Nigeria Department of Computer Science Faculty of Science and Engineering University of Eswatini Kwaluseni Swaziland

Diabetes mellitus is a prevalent chronic illness with severe complications that demand timely diagnosis. This study introduces an attention-enhanced Deep Belief Network (DBN) for early diabetes risk prediction, designed to address challenges associated with highly imbalanced datasets. Using a dataset from Sylhet Diabetes Hospital, which includes symptom and demographic information from patients, we applied an ensemble feature selection approach to identify critical predictors. To address the class imbalance, Generative Adversarial Networks (GANs) were used to generate synthetic data, ensuring the model’s robustness in identifying underrepresented cases. Additionally, a hybrid loss function combining cross-entropy and focal loss was implemented to improve classification, especially for hard-to-detect instances. Our results show that the attention-based DBN model, augmented with synthetic data from GANs and optimized with a hybrid loss function, achieves an AUC of 1.00, F1-score of 0.97, precision of 0.98, and recall of 0.95, outperforming several baseline models. This research offers a novel and effective approach for early diabetes detection, demonstrating potential for use as a clinical tool in preventive healthcare settings. © The Author(s) 2025.

关键词： Attention mechanism Deep belief networks (DBN) Diabetes risk Generative adversarial networks (GANs) Hybrid loss function Imbalanced data

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Identifying Inflammatory Bowel Disease-Associated Gene Ontology Groups Using Biological Knowledge-Based Machine Learning

Identifying Inflammatory Bowel Disease-Associated Gene Ontol...

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18th International Joint Conference on Biomedical engineering systems and Technologies, BIOSTEC 2025

作者： Ersoz, Nur Sebnem Bakir-Gungor, Burcu Yousef, Malik Department of Bioengineering Graduate School of Engineering and Science Abdullah Gul University Kayseri Turkey Department of Computer Engineering Faculty of Engineering Abdullah Gul University Kayseri38080 Turkey Department of Bioengineering Faculty of Life and Natural Sciences Abdullah Gul University Kayseri Turkey Department of Information Systems Zefat Academic College Zefat Israel Zefat Academic College Zefat Israel

Inflammatory bowel disease (IBD) is a chronic inflammatory disease. Complex pathogenesis behind disease formation and progression necessitated the development of new approaches to identify disease related genes and affected gene ontology (GO) terms. In this study, via exploiting GeNetOntology method, we have reanalysed a gene expression data including Crohn’s Disease (CD) and Ulcerative colitis (UC) patients and controls. In order to identify IBD related genes and affected GO terms, GeNetOntology uses GO hierarchy as the biological domain knowledge while performing gene expression data analysis based on machine learning (ML). In the training part of GeNetOntology, genes annotated with selected ontology terms have been utilized to perform a two-class classification task which generates an important set of ontologies as an output. IBD data samples were obtained from peripheral blood and colon tissue. In order to investigate the effect of different collection sites, IBD data have been analysed under different scenarios;i.e., all samples, only tissue samples and only blood samples. Experimental findings indicate that GeNetOntology can successfully determine significant disease-related ontology terms. Performance of the model slightly differs according to the sample source. Via analysing the differences/commonalities between affected gene ontologies under different scenarios, we attempt to enlighten IBD development mechanisms. © 2025 by SCITEPRESS– science and Technology Publications, Lda.

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A Nonlinear Model Predictive Control Strategy for Trajectory Tracking of Omnidirectional Robots

A Nonlinear Model Predictive Control Strategy for Trajector...

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16th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Ribeiro, Jorge Diogo Sobreira, Héber Miguel Moreira, António Paulo Faculty of Engineering University of Porto Porto 4200-465 Portugal INESC TEC – Institute for Systems and Computer Engineering Technology and Science Porto 4200-465 Portugal

ISBN: (纸本)9783031817236

This paper presents a novel Nonlinear Model Predictive Controller (NMPC) architecture for trajectory tracking of omnidirectional robots. The key innovation lies in the method of handling constraints on maximum velocity and acceleration outside of the optimization process, significantly reducing computation time. The controller uses a simplified process model to predict the robot’s state evolution, enabling real-time cost function minimization through gradient descent methods. The cost function penalizes position and orientation errors as well as control effort variation. Experimental results compare the performance of the proposed controller with a generic Proportional-Derivative (PD) controller and a NMPC with integrated optimization constraints. The findings reveal that the proposed controller achieves higher precision than the PD controller and similar precision to the NMPC with integrated constraints, but with substantially lower computational effort. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： nonlinear model predictive control nonlinear programming omnidirectional robots trajectory tracking

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So Far Yet So Near: Time Series Data Augmentation with Exploring non-Semantic Boundaries based on Reinforcement Learning

So Far Yet So Near: Time Series Data Augmentation with Explo...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Haoran Li Zhibo Zhang Jiarong Kang Xun Jiang Xiaoli Gong Jin Zhang Zhe Sun Andrzej Cichocki College of Computer Science Nankai University Tianjin China School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China Faculty of Medicine and Faculty of Health Data Science Juntendo University Japan Polish Academy of Science Systems Research Institute Warsaw Poland

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Data augmentation effectively expands feature distribution in time series classification, enhancing downstream task performance. However, existing techniques often fail to maintain semantic consistency between augmented and original time series data, causing label noise and thereby degrading downstream task performance. We argue that data augmentation should preserve time series semantic consistency and expand the non-semantic information space. In this paper, we reformulate data augmentation as a semantic path planning problem between original data and augmented data, modeled as a Markov Decision Process (MDP). We propose a reinforcement learning-based algorithm (RL) named FreqSYN, where the action space is defined by a set of learnable Gaussian kernels that perturbs the frequency domain of the original data to generate augmented samples. The confidence coefficients of augmented data in semantically relevant classification tasks are used as a reward to iteratively refine the FreqSYN. Our method is validated across four datasets, achieving state-of-the-art performance, with a 2% improvement in F1 score over the SimPSI method. The code and models are available at https://***/NKU-EmbeddedSystem/FreqSYN.

关键词： Semantics Time series analysis Signal processing algorithms Reinforcement learning Data augmentation Prediction algorithms Path planning Data models Kernel Speech processing

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Structure learning of Bayesian networks using sparrow optimization algorithm

International Journal of Systematic Innovation

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International Journal of Systematic Innovation 2025年第2期9卷 14-25页

作者： Kareem, Shahab Wahhab Awla, Hoshang Qasim Mohammed, Amin Salih Department of Technical Information Systems Engineering Erbil Technical Engineering College Erbil Polytechnic University Erbil Iraq Department of Computer Technical Engineering Al-Qalam University College Kirkuk Iraq Department of Computer Science Faculty of Science Soran University Soran Iraq Department of Software and Informatics Salahaddin University Erbil Iraq

Bayesian networks are powerful analytical models in machine learning, used to represent probabilistic relationships among variables and create learning structures. These networks are made up of parameters that show conditional probabilities and a structure that shows how random variables interact with each other. The structure is shown by a directed acyclic graph. Despite the NP-hard nature of learning Bayesian network structures, there has been significant progress in improving the accuracy of approximation solutions. The main focus is on score-based search strategies, which make use of functions to evaluate network models and identify structures with high scores. This study is significantly focused on structure learning Bayesian networks using the Bayesian Dirichlet equivalent uniform scoring function and metaheuristic search strategies. To this end, this paper presents the sparrow optimization algorithm (SOA), a new metaheuristic algorithm derived from the foraging behavior of sparrows. SOA performs a concurrent optimization in the solution space by simultaneously performing a local and global search that leads to the discovery of near-optimal structures. The results from our experiments on several benchmark datasets show that SOA yields overall better performance than SA and greedy search algorithms. In particular, it is claimed that by applying the proposed approach of SOA, the convergence speed is significantly higher compared with the existing ones;F1 score is 0.35 and 0.05 for the Hamming distance with better results. Given these results, signed operators prove to be very efficient in SOA’s Bayesian network structure learning as a concept, especially for real-world use. © (2024), (Society of Sytematic Innovation). All Rights Reserved.

关键词： Bayesian Network Global and Local Search Search and Score Sparrow Search Optimization Algorithm Structure Learning

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Enhancing Mobile Robot Navigation: A Graph Decomposition Submodule for TEA*

Enhancing Mobile Robot Navigation: A Graph Decomposition Sub...

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

作者： Filipe Cardoso Diogo Miguel Matos Marina Brilhante Pedro Costat Héber Sobreira Carlos Silva CRIIS - Centre of 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 Porto Portugal Flowbotic Mobile Systems SA Mangualde Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Rising industrial complexity demands efficient mobile robots to drive automation and productivity. Effective navigation relies on perception, localization, mapping, path planning, and motion control, with path planning being key. The Time Enhanced A * (TEA *) algorithm extends A * by adding time as a dimension to resolve temporal conflicts in multi-robot coordination. However, inconsistencies in edge lengths within the graph can hinder optimal path calculation. To address this, a Graph Decomposition submodule was developed to standardize edge lengths and temporal costs. Integrated into a ROS-based fleet coordination system, this approach significantly reduces execution time and improves coordination capacity.

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