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Robot assisted knee joint RoM exercise: A PID parallel compensator architecture through impedance estimation

Cognitive Robotics 2024年第1期4卷 42-61页

作者： Akhtaruzzaman, M. Shafie, Amir A. Khan, Md Raisuddin Rahman, Md Mozasser Department of Computer Science and Engineering Military Institute of Science and Technology 1216 Dhaka Bangladesh Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur53100 Malaysia Faculty of Engineering Technology Universiti Tun Hussein Onn Malaysia 86400 Johor Malaysia

Knee joint rehabilitation exercise refers to a therapeutic procedure of a patient having dysfunctions in certain abilities to move knee joint due to some medical conditions like trauma or paralysis. The exercise is basically a series of repeated assistive physical movements within the range of motion (RoM) of the joint. Reflex action of limbs during RoM exercise causes inappropriate balance of load which may cause secondary injuries, such as damages of muscle or tendon tissues. Establishing correlation between impedance data and limb motions is important to solve this problem. This paper aims to design and modeling of a robotic arm with an original approach in control strategy which is developed based on the correlation in between the joint-impedances and joint-motion characteristics during exercise. The knee joint impedances are estimated based on the internal feedback of the system dynamics, that lead to design the torque compensator to improve the overall control signals in real time. This paper also demonstrates the characteristics of various responses of the system during exercise with human subject. Results have reflected good performances with low position and velocity tracking errors, ±0.02∘ and ***−1 during hold phase;and ±0.14∘ and ***−1 during motion phse. Though, the limitation of the prototype is its current RoM (limited to 0∘–25∘), the system has potential in the application of RoM exercise for paraplegic or monoplegic patients. © 2023

关键词： Human robot interaction

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Development and Investigation of Vision System for a Small-Sized Mobile Humanoid Robot in a Smart Environment

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International Journal of Crowd Science 2025年第1期9卷 29-43页

作者： Abu-Jassar, Amer Tahseen Attar, Hani Amer, Ayman Lyashenko, Vyacheslav Yevsieiev, Vladyslav Solyman, Ahmed Department of Computer Science College of Information Technology Amman Arab University Amman11937 Jordan Faculty of Engineering Zarqa University Zarqa2000 Jordan College of Engineering University of Business and Technology Jeddah21448 Saudi Arabia Department of Media Systems and Technology Kharkiv National University of Radio Electronics Kharkiv61166 Ukraine Department of Electrical and Electronics Engineering Faculty of Engineering and Architecture Nişantaşı University Istanbul34398 Turkey

The conducted research aims to develop a computer vision system for a small-sized mobile humanoid robot. The decentralization of the servomotor control and the computer vision systems is investigated based on the hardware solution point of view, moreover, the required software level to achieve an efficient matched design is obtained. A computer vision system using the upgraded tiny-You Only Look Once (YOLO) network model is developed to allow recognizing and identifying objects and making decisions on interacting with them, which is recommended for crowd environment. During the research, a concept of a computer vision system was developed, which describes the interaction between the main elements, on the basis of which hardware modules were selected to implement the task. A structure of information interaction between hardware modules is proposed, and a connection scheme is developed, on the basis of which a model of a computer vision system is assembled for research, with the required algorithmic and software for solving the problem. To ensure the high speed of the computer vision system based on the ESP32-CAM module, the neural network was improved by replacing the Visual Geometry Group 16 (VGG-16) network as the base network for extracting the functions of the Single Shot Detector (SSD) network model with the tiny-YOLO lightweight network model, which made it possible to preserve the multidimensional structure of the network model feature graph, resulting in increasing the detection accuracy, while significantly reducing the amount of calculations generated by the network operation, thereby significantly increasing the detection speed, due to a limited set of objects. Finally, a number of experiments were carried out, both in static and dynamic environments, which showed a high accuracy of identifications. © The author(s) 2025.

关键词： Anthropomorphic robots

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Toward Addressing the Software Architecture Blind Spot of Information System Success Factors in the Public Health Domain 34

Toward Addressing the Software Architecture Blind Spot of In...

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34th Australasian Conference on Information Systems, ACIS 2023

作者： Dang, Anthony Beydoun, Ghassan School of Computer Science Faculty of Engineering and Information Technology University of Technology Sydney Australia

Context: In the public health domain, there is no shortage of failed Information Systems projects. In addition to overblown budgets and elapsed deadlines (ad nauseam), technical issues exist. These include poor usability, instability, system performance, and data inconsistency issues. The issues relate to Software engineering, and specifically Software Architecture. The role of Software Architecture underpins these issues. However, the enquiries and analyses of these failed Information Systems projects have focused on the perspective of stakeholders (e.g., government ministers and health practitioners) and project managers. While stakeholders provide input into project requirements and goals, the project failure or success does not emanate from these roles exclusively. For example, system instability is not specifically a stakeholder issue but rather a Software Architecture concern. Aim: To bring to bear and address public sector health Information System failure from the Software Architecture perspective. Method: A literature survey was conducted to ascertain the perceived failure and success factors within the public health domain. Results: We observed that the available literature on health Information Systems appears to lack success factors which have been noted in the Software engineering and Software Architecture literature. Software Architecture appears to be an understudied area within the public health domain. Contribution: To bring awareness to the public health domain that the Information System's success requires multi-faceted perspectives and actions. Specifically, perspectives and actions involving Software Architects and Software Engineers are required to successfully address the quality attributes of the proposed systems during development. Copyright © 2023 Anthony Dang and Ghassan Beydoun.

关键词： Software architecture

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Improved Alzheimer's Disease Early Prediction using Machine Learning Method : A Comprehensive Diagnostic Approach with Random Forest Classifier 4

Improved Alzheimer's Disease Early Prediction using Machine ...

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4th International Conference on Soft Computing for Security Applications, ICSCSA 2024

作者： Munawar, Madiha Monika Singh, T. Kishor Kumar Reddy, C. Hanafiah, Marlia Mohd Stanley College of Engineering and Technology for Women Department of Computer Science and Engineering Hyderabad India Universiti Kebangsaan Malaysia Faculty of Science and Technology Malaysia

ISBN: (纸本)9798331515720

Alzheimer's Disease (AD) often affects the elder persons and is the prevalent kind of Dementia. AD has a huge expense, especially when it comes to the treatment. AD is a main reason the older generations die whereas when Alzheimer Disease is detected early there will be minimal deaths and accurate diagnosing likely occurs in most cases. Using anonymized Oasis longitudinal MRI data, the study trains several machine learning algorithms to identify AD patients. Analyzing the test result includes utilizing different learning strategies or algorithms e.g., Ensemble Random Forest (RF), Hierarchical Decision Tree (DT), Logistic Regression (LR), Convolutional Neural Network (CNN), Deep Neural Network binary classifier (DNN), soft voting classifier (SVC), transfer learning approaches (TLA), Support Vector Machine (SVM) and boosting AdaBoost in reference of their Accuracy, Error Rate, AUC (area under the curve), Time Taken and Recall for each method. The obtained results concluded that the proposed Random Forest classifier achieves higher accuracy (92.84%), Error Rate (7.16%), AUC (95%) (Area Under Curve) and Recall (89%). The Random Forest classifier also achieves higher Time Taken that is 483.654 sec. © 2024 IEEE.

关键词： Alzheimer's Disease Decision Trees Deep Learning Dementia Learning Approaches Machine Learning Random Forest

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Even Search in a Promising Region for Constrained Multi-Objective Optimization

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 474-486页

作者： Fei Ming Wenyin Gong Yaochu Jin School of Computer Science China University of GeosciencesWuhan 430074China IEEE Faculty of Technology Bielefeld UniversityNorth Rhine-Westphalia 33619Germany School of Engineering Westlake UniversityHangzhou 310030China

In recent years, a large number of approaches to constrained multi-objective optimization problems(CMOPs) have been proposed, focusing on developing tweaked strategies and techniques for handling constraints. However, an overly finetuned strategy or technique might overfit some problem types,resulting in a lack of versatility. In this article, we propose a generic search strategy that performs an even search in a promising region. The promising region, determined by obtained feasible non-dominated solutions, possesses two general ***, the constrained Pareto front(CPF) is included in the promising region. Second, as the number of feasible solutions increases or the convergence performance(i.e., approximation to the CPF) of these solutions improves, the promising region shrinks. Then we develop a new strategy named even search,which utilizes the non-dominated solutions to accelerate convergence and escape from local optima, and the feasible solutions under a constraint relaxation condition to exploit and detect feasible regions. Finally, a diversity measure is adopted to make sure that the individuals in the population evenly cover the valuable areas in the promising region. Experimental results on 45 instances from four benchmark test suites and 14 real-world CMOPs have demonstrated that searching evenly in the promising region can achieve competitive performance and excellent versatility compared to 11 most state-of-the-art methods tailored for CMOPs.

关键词： Constrained multi-objective optimization even search evolutionary algorithms promising region real-world problems

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A Parallel Hybrid Testing Technique for Tri-Programming Model-Based Software Systems

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computers, Materials & Continua 2023年第2期74卷 4501-4530页

作者： Huda Basloom Mohamed Dahab Abdullah Saad AL-Ghamdi Fathy Eassa Ahmed Mohammed Alghamdi Seif Haridi Department of Computer Science Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21589Saudi Arabia Department of Information Systems Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21589Saudi Arabia Department of Software Engineering College of Computer Science and EngineeringUniversity of JeddahJeddah21493Saudi Arabia KTH Royal Institute of Technology StockholmSweden

Recently,researchers have shown increasing interest in combining more than one programming model into systems running on high performance computing systems(HPCs)to achieve exascale by applying parallelism at multiple *** different programming paradigms,such as Message Passing Interface(MPI),Open Multiple Processing(OpenMP),and Open Accelerators(OpenACC),can increase computation speed and improve *** the integration of multiple models,the probability of runtime errors increases,making their detection difficult,especially in the absence of testing techniques that can detect these *** studies have been conducted to identify these errors,but no technique exists for detecting errors in three-level programming *** the increasing research that integrates the three programming models,MPI,OpenMP,and OpenACC,a testing technology to detect runtime errors,such as deadlocks and race conditions,which can arise from this integration has not been ***,this paper begins with a definition and explanation of runtime errors that result fromintegrating the three programming models that compilers cannot *** the first time,this paper presents a classification of operational errors that can result from the integration of the three *** paper also proposes a parallel hybrid testing technique for detecting runtime errors in systems built in the C++programming language that uses the triple programming models MPI,OpenMP,and *** hybrid technology combines static technology and dynamic technology,given that some errors can be detected using static techniques,whereas others can be detected using dynamic *** hybrid technique can detect more errors because it combines two distinct *** proposed static technology detects a wide range of error types in less time,whereas a portion of the potential errors that may or may not occur depending on the 4502 CMC,2023,vol.74,no.2 operating environme

关键词： Software testing hybrid testing technique OpenACC OpenMP MPI tri-programming model exascale computing

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Blockchain-Based Trust Model for Inter-Domain Routing

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computers, Materials & Continua 2025年第3期82卷 4821-4839页

作者： Qiong Yang Li Ma Sami Ullah Shanshan Tu Hisham Alasmary Muhammad Waqas Faculty of Information Technology Beijing University of TechnologyBeijing100124China School of Information Science and Technology North China University of TechnologyBeijing100144China Department of Computer Science Shaheed Benazir Bhutto UniversitySheringal18050Pakistan Department of Computer Science King Khalid UniversityAbha61421Saudi Arabia School of Computing andMathematical Sciences Faculty of Engineering and ScienceUniversity of GreenwichLondonSE109LSUK School of Engineering Edith Cowan UniversityPerthWA 6027Australia

Border Gateway Protocol(BGP),as the standard inter-domain routing protocol,is a distance-vector dynamic routing protocol used for exchanging routing information between distributed Autonomous Systems(AS).BGP nodes,communicating in a distributed dynamic environment,face several security challenges,with trust being one of the most important issues in inter-domain *** research,which performs trust evaluation when exchanging routing information to suppress malicious routing behavior,cannot meet the scalability requirements of BGP *** this paper,we propose a blockchain-based trust model for inter-domain *** model achieves scalability by allowing the master node of an AS alliance to transmit the trust evaluation data of its member nodes to the *** BGP nodes can expedite the trust evaluation process by accessing a global view of other BGP nodes through the master node of their respective *** incorporate security service evaluation before direct evaluation and indirect recommendations to assess the security services that BGP nodes provide for themselves and prioritize to guarantee their security of routing *** forward the trust evaluation for neighbor discovery and prioritize the nodes with high trust as neighbor nodes to reduce the malicious exchange routing *** use simulation software to simulate a real BGP environments and employ a comparative experimental research approach to demonstrate the performance evaluation of our trust *** with the classical trust model,our trust model not only saves more storage overhead,but also provides higher security,especially reducing the impact of collusion attacks.

关键词： Inter-domain routing BGP security blockchain trust model trust mechanisms trust evaluation

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Slotted V Shaped Compact Wideband Antenna with Partial Ground Plane for Microwave Based Head Imaging Applications 6

Slotted V Shaped Compact Wideband Antenna with Partial Groun...

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6th International Conference on Electrical Information and Communication technology, EICT 2023

作者： Moue, Sonia Akter Samsuzzaman, Md. Mahmud, Md Zulfiker Siddiquea, Sefat Talukder, Md Siam Majumder, Sarna Patuakhali Science And Technology University Faculty of Computer Science And Engineering Bangladesh Jagannath University Dept. of Computer Science and Engineering Bangladesh Patuakhali Science and Technology University Faculty of Computer Science and Engineering Dumki Patuakhali Bangladesh

ISBN: (纸本)9798350370836

This study presents a detailed description of a Slotted V Shaped Compact Wideband Antenna designed for the purpose of microwave-based head imaging. The antenna under consideration comprises a radiating patch with a Vshaped slot and a partial ground with slots. Slots have been found to significantly improve the efficiency, dispersion of current, gain, and various other aspects of antennas. The antenna under consideration has a maximum gain of 5.85, operates within the frequency range of 4 to 8.06 GHz, and is deemed suitable for head imaging applications. The dimensions of the antenna under consideration are 0.33λ × 0.667λ × 0.21λ, where λ represents the wavelength, at a lower frequency of 4 GHz. Additionally, the antenna is equipped with a 50 ohm microstrip transmission line. The antenna is fabricated on a cost-effective FR4 substrate with a thickness of 1.5 mm. The antenna under consideration achieves a fractional bandwidth of 67.33% within the frequency range of 4 to 8 GHz. In order to optimize antenna performance, a comprehensive parametric analysis is carried out utilizing the widely recognized software tools HFSS and CST. The experimental testing and analysis of the prototype antenna yielded findings that exhibited a satisfactory level of concurrence with the corresponding calculations. © 2023 IEEE.

关键词： Brain

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Fast Bicriteria Approximation Algorithm for Minimum Cost Submodular Cover Problem 12th

Fast Bicriteria Approximation Algorithm for Minimum Cost Su...

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12th International Conference on Computational Data and Social Networks, CSoNet 2023

作者： Pham, Canh V. Phu, Quat V. Ha, Dung T. K. ORLab Faculty of Computer Science Phenikaa University Hanoi Viet Nam Faculty of Information Technology VNU University of Engineering and Technology Hanoi Viet Nam

ISBN: (纸本)9789819706686

This paper studies the Minimum Cost Submodular Cover (MCSC) problem over the ground set of size n, which aims at finding a subset with the minimal cost required so that the utility submodular function exceeds a given threshold. The issue has recently attracted a lot of attention due to its applications in various domains of artificial intelligence and combination optimization. However, the best approximation algorithm for the problem requires an expensive query complexity of O(n2) that may become infeasible for some applications with large data. In this work, we propose a bicriteria approximation algorithm that keeps the performance guarantees of the state-of-the-art ones but reduces the required number of queries to O(nlogn). Besides the theoretical, the experiment results on two applications, Twitter feed threshold summarization, and threshold influence in social networks, further show the superiority of our algorithm with the state-of-the-art in terms of both solution quality and query complexity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Approximation algorithms

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Finite Difference Method for Neutrosophic Fuzzy Second Order Differential Equation under Generalized Hukuhara Differentiability

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Neutrosophic Sets and Systems 2023年 58卷 311-329页

作者： Kamal, Bassem Khalid, Huda E. Salama, A.A. El-Baghdady, Galal I. Department of Mathematics and Engineering Physics Faculty of Engineering Delta University for Science and Technology Egypt Telafer University Telafer Iraq Department of Mathematics and Computer Science Faculty of Science Port Saied University Egypt Department of Mathematics and Engineering Physics Faculty of Engineering Mansoura University Egypt

This paper solves the boundary value problem of the second-order differential equation under the neutrosophic fuzzy boundary condition. The proposed solution is approximated using the finite difference method but deneutrosophication utilizing strongly generalized Hukuhara differentiability. The error calculation is then processed by comparing the proposed numerical solution with the analytical solution presented in our earlier work [20]. © (2023). All Rights Reserved.

关键词： Boundary conditions

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