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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yanmin Wu Yunzhou Zhang Delong Zhu Yonghui Feng Sonya Coleman Dermot Kerr Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Information Science and Engineering Northeastern University Shenyang China The Chinese University of Hong Kong China School of Computing and Intelligent Systems Ulster University N. Ireland UK

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for integrating the parametric and nonparametric statistic tests. By exploiting the nature of different statistics, our method can effectively aggregate the information of different measurements, and thus significantly improve the robustness and accuracy of data association. We then present an accurate object pose estimation framework, in which an outliers-robust centroid and scale estimation algorithm and an object pose initialization algorithm are developed to help improve the optimality of pose estimation results. Furthermore, we build a SLAM system that can generate semi-dense or lightweight object-oriented maps with a monocular camera. Extensive experiments are conducted on three publicly available datasets and a real scenario. The results show that our approach significantly outperforms state-of-the-art techniques in accuracy and robustness. The source code is available on https://***/yanmin-wu/EAO-SLAM.

关键词： Simultaneous localization and mapping Navigation Pose estimation Semantics Robustness Nonparametric statistics Intelligent robots

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Using Model Checking to Formally Verify Rendezvous Algorithms for Robots with Lights in Euclidean Space

Using Model Checking to Formally Verify Rendezvous Algorithm...

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Reliable Distributed Systems

作者： Xavier Défago Adam Heriban Sébastien Tixeuil Koichi Wada School of Computing Tokyo Institute of Technology Tokyo Japan CNRS LIP6 Sorbonne Université Paris France Faculty of Science & Engineering Hosei University Tokyo Japan

ISBN: (数字)9781728176260

ISBN: (纸本)9781728176277

The paper details the first successful attempt at using model checking techniques to verify the correctness of distributed algorithms for robots evolving in a continuous environment. The study focuses on the problem of rendezvous of two robots with *** exist many different rendezvous algorithms that aim at finding the minimal number of colors needed to solve rendezvous in various synchrony models (e.g., FSYNC, SSYNC, ASYNC). While these rendezvous algorithms are typically very simple, their analysis and proof of correctness tend to be extremely complex, tedious, and error-prone as impossibility results are based on subtle interactions between robots activation *** paper presents a generic verification model written for the SPIN model checker. In particular, we explain the subtle design decisions that allow to keep the search space finite and tractable, as well as prove several important theorems that support them. As a sanity check, we use the model to verify several known rendezvous algorithms in six different models of synchrony. In each case, we find that the results obtained from the model checker are consistent with the results known in the literature. The model checker outputs a counter-example execution in every case that is known to *** the course of developing and proving the validity of the model, we identified several fundamental theorems, including the ability for a well chosen algorithm and ASYNC scheduler to produce an emerging property of memory in a system of oblivious mobile robots, and why it is not a problem for luminous rendezvous algorithms.

关键词： Analytical models Color Model checking Reliability Mobile robots Distributed algorithms

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Improving confidence in the estimation of values and norms

arXiv

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arXiv 2020年

作者： Siebert, Luciano Cavalcante Mercuur, Rijk Dignum, Virginia van den Hoven, Jeroen Jonker, Catholijn Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Netherlands Faculty of Technology Policy and Management Delft University of Technology Netherlands Department of Computing Sciences Ume University Sweden Leiden Institute of Advance Computer Science Leiden University Netherlands

Autonomous agents (AA) will increasingly be interacting with us in our daily lives. While we want the benefits attached to AAs, it is essential that their behavior is aligned with our values and norms. Hence, an AA will need to estimate the values and norms of the humans it interacts with, which is not a straightforward task when solely observing an agent's behavior. This paper analyses to what extent an AA is able to estimate the values and norms of a simulated human agent (SHA) based on its actions in the ultimatum game. We present two methods to reduce ambiguity in profiling the SHAs: one based on search space exploration and another based on counterfactual analysis. We found that both methods are able to increase the confidence in estimating human values and norms, but differ in their applicability, the latter being more efficient when the number of interactions with the agent is to be minimized. These insights are useful to improve the alignment of AAs with human values and norms. Copyright © 2020, The Authors. All rights reserved.

关键词： Autonomous agents

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Stringent Tests of Lorentz Invariance Violation from LHAASO Observations of GRB 221009A

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Physical Review Letters 2024年第7期133卷 071501-071501页

作者： Zhen Cao F. Aharonian Axikegu Y. X. Bai Y. W. Bao D. Bastieri X. J. Bi Y. J. Bi W. Bian A. V. Bukevich Q. Cao W. Y. Cao Zhe Cao J. Chang J. F. Chang A. M. Chen E. S. Chen H. X. Chen Liang Chen Lin Chen Long Chen M. J. Chen M. L. Chen Q. H. Chen S. Chen S. H. Chen S. Z. Chen T. L. Chen Y. Chen N. Cheng Y. D. Cheng M. Y. Cui S. W. Cui X. H. Cui Y. D. Cui B. Z. Dai H. L. Dai Z. G. Dai Danzengluobu X. Q. Dong K. K. Duan J. H. Fan Y. Z. Fan J. Fang J. H. Fang K. Fang C. F. Feng H. Feng L. Feng S. H. Feng X. T. Feng Y. Feng Y. L. Feng S. Gabici B. Gao C. D. Gao Q. Gao W. Gao W. K. Gao M. M. Ge L. S. Geng G. Giacinti G. H. Gong Q. B. Gou M. H. Gu F. L. Guo X. L. Guo Y. Q. Guo Y. Y. Guo Y. A. Han M. Hasan H. H. He H. N. He J. Y. He Y. He Y. K. Hor B. W. Hou C. Hou X. Hou H. B. Hu Q. Hu S. C. Hu D. H. Huang T. Q. Huang W. J. Huang X. T. Huang X. Y. Huang Y. Huang X. L. Ji H. Y. Jia K. Jia K. Jiang X. W. Jiang Z. J. Jiang M. Jin M. M. Kang I. Karpikov D. Kuleshov K. Kurinov B. B. Li C. M. Li Cheng Li Cong Li D. Li F. Li H. B. Li H. C. Li Jian Li Jie Li K. Li S. D. Li W. L. Li X. R. Li Xin Li Y. Z. Li Zhe Li Zhuo Li E. W. Liang Y. F. Liang S. J. Lin B. Liu C. Liu D. Liu D. B. Liu H. Liu H. D. Liu J. Liu J. L. Liu M. Y. Liu R. Y. Liu S. M. Liu W. Liu Y. Liu Y. N. Liu Q. Luo Y. Luo H. K. Lv B. Q. Ma L. L. Ma X. H. Ma J. R. Mao Z. Min W. Mitthumsiri H. J. Mu Y. C. Nan A. Neronov L. J. Ou P. Pattarakijwanich Z. Y. Pei J. C. Qi M. Y. Qi B. Q. Qiao J. J. Qin A. Raza D. Ruffolo A. Sáiz M. Saeed D. Semikoz L. Shao O. Shchegolev X. D. Sheng F. W. Shu H. C. Song Yu. V. Stenkin V. Stepanov Y. Su D. X. Sun Q. N. Sun X. N. Sun Z. B. Sun J. Takata P. H. T. Tam Q. W. Tang R. Tang Z. B. Tang W. W. Tian C. Wang C. B. Wang G. W. Wang H. G. Wang H. H. Wang J. C. Wang Kai Wang L. P. Wang L. Y. Wang P. H. Wang R. Wang W. Wang X. G. Wang X. Y. Wang Y. Wang Y. D. Wang Y. J. Wang Z. H. Wang Z. X. Wang Zhen Wang Zheng Wang D. M. Wei J. J. Wei Y. J. Wei T. Wen C. Y. Wu H. R. Wu Q. W. Wu S. Wu X. F. Wu Y. S. Wu S. Q. Xi J. Xia G. M. Xiang D. X. Xiao Key Laboratory of Particle Astrophysics and Experimental Physics Division and Computing Center Institute of High Energy Physics Chinese Academy of Sciences 100049 Beijing China University of Chinese Academy of Sciences 100049 Beijing China Tianfu Cosmic Ray Research Center 610000 Chengdu Sichuan China Dublin Institute for Advanced Studies 31 Fitzwilliam Place 2 Dublin Ireland Max-Planck-Institut for Nuclear Physics P.O. Box 103980 69029 Heidelberg Germany School of Physical Science and Technology and School of Information Science and Technology Southwest Jiaotong University 610031 Chengdu Sichuan China School of Astronomy and Space Science Nanjing University 210023 Nanjing Jiangsu China Center for Astrophysics Guangzhou University 510006 Guangzhou Guangdong China Tsung-Dao Lee Institute and School of Physics and Astronomy Shanghai Jiao Tong University 200240 Shanghai China Institute for Nuclear Research of Russian Academy of Sciences 117312 Moscow Russia Hebei Normal University 050024 Shijiazhuang Hebei China University of Science and Technology of China 230026 Hefei Anhui China State Key Laboratory of Particle Detection and Electronics China Key Laboratory of Dark Matter and Space Astronomy and Key Laboratory of Radio Astronomy Research Center for Astronomical Computing Zhejiang Laboratory 311121 Hangzhou Zhejiang China Key Laboratory for Research in Galaxies and Cosmology Shanghai Astronomical Observatory Chinese Academy of Sciences 200030 Shanghai China School of Physics and Astronomy Yunnan University 650091 Kunming Yunnan China Key Laboratory of Cosmic Rays (Tibet University) Ministry of Education 850000 Lhasa Tibet China National Astronomical Observatories Chinese Academy of Sciences 100101 Beijing China School of Physics and Astronomy (Zhuhai) and School of Physics (Guangzhou) and Sino-French Institute of Nuclear Engineering and Technology (Zhuhai) Sun Yat-sen University 519000 Zhuhai and 510275 Guangzhou Guangdong China Institute of Frontier a

On 9 October 2022, the Large High Altitude Air Shower Observatory (LHAASO) reported the observation of the very early TeV afterglow of the brightest-of-all-time gamma-ray burst 221009A, recording the highest photon statistics in the TeV band ever obtained from a gamma-ray burst. We use this unique observation to place stringent constraints on the energy dependence of the speed of light in vacuum, a manifestation of Lorentz invariance violation (LIV) predicted by some quantum gravity (QG) theories. Our results show that the 95% confidence level lower limits on the QG energy scales are EQG,1>10 times the Planck energy EPl for the linear LIV effect, and EQG,2>6×10−8EPl for the quadratic LIV effect. Our limits on the quadratic LIV case improve previous best bounds by factors of 5–7.

关键词： Gamma ray bursts Gravitation Quantum gravity

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Monitoring System-Based Flying IoT in Public Health and Sports Using Ant-Enabled Energy-Aware Routing

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Journal of Healthcare engineering 2021年 2021卷 1686946页

作者： Khan, Inam Ullah Hassan, Muhammad Abul Alshehri, Mohammad Dahman Ikram, Mohammed Abdulaziz Alyamani, Hasan J. Alturki, Ryan Hoang, Vinh Truong Department of Electronic Engineering School of Engineering and Applied Sciences Isra University Islamabad Pakistan Department of Computing and Technology Abasyn University Peshawar25000 Pakistan Department of Computer Science College of Computers and Information Technology Taif University Taif21944 Saudi Arabia Computer Science Department University College in Al-Jamoum Umm Al-Qura University Makkah Saudi Arabia Department of Information Systems Faculty of Computing and Information Technology in Rabigh King Abdulaziz University Jeddah Saudi Arabia Department of Information Science College of Computer and Information Systems Umm Al-Qura University Makkah Saudi Arabia Department of Information Technology Specialization Fpt University Hoa Lac High Tech Park Hanoi Viet Nam

In recent decades, the Internet of flying networks has made significant progress. Several aerial vehicles communicate with one another to form flying ad hoc networks. Unmanned aerial vehicles perform a wide range of tasks that make life easier for humans. However, due to the high frequency of mobile flying vehicles, network problems such as packet loss, latency, and perhaps disrupted channel links arise, affecting data delivery. The use of UAV-enabled IoT in sports has changed the dynamics of tracking and working on player safety. WBAN can be merged with aerial vehicles to collect data regarding health and transfer it to a base station. Furthermore, the unbalanced energy usage of flying things will result in earlier mission failure and a rapid decline in network lifespan. This study describes the use of each UAV's residual energy level to ensure a high level of safety using an ant-based routing technique called AntHocNet. In health care, the use of IoT-Assisted aerial vehicles would increase operational performance, surveillance, and automation optimization to provide a smart application of flying IoT. Apart from that, aerial vehicles can be used in remote communication for treatment, medical equipment distribution, and telementoring. While comparing routing algorithms, simulation findings indicate that the proposed ant-based routing protocol is optimal. © 2021 Inam Ullah Khan et al.

关键词： Unmanned aerial vehicles (UAV)

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Preface

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied sciences and Technology 2025年 Part F127卷 v页

作者： Sambhav, Saurabh Singh, Deepak Kumar Pandey, Ashok Kumar Ismail, Azman Zulkipli, Fatin Nur Öchsner, Andreas Amity University Patna Bihar Patna India Madhya Pradesh Bhopal India Maritime Engineering Technology and Centre for Women Advancement and Leadership Universiti Kuala Lumpur Malaysian Institute of Marine Engineering Technology Perak Lumut Malaysia Information Science Studies College of Computing Informatics and Mathematics Universiti Teknologi MARA Machang Kelantan Malaysia Faculty of Mechanical Engineering Esslingen University of Applied Sciences Baden-Württemberg Esslingen Germany

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Shortest Path Priority-based RPL (SPPB-RPL): The Case of a Smart Campus

Shortest Path Priority-based RPL (SPPB-RPL): The Case of a S...

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IEEE Conference on Application, Information and Network Security (AINS)

作者： Innocent Uzougbo Onwuegbuzie Shukor Abd Razak Ismail Fauzi Isnin Nor Badrul Anuar School of Computing Faculty of Engineering Universiti Teknologi Malaysia (UTM) Johor Malaysia The Federal Polytechnic Ado-Ekiti Ekiti State Nigeria Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia

ISBN: (数字)9781728192406

ISBN: (纸本)9781728192413

Wireless Sensor Networks (WSN) is the network of embedded and resource-constrained nodes, that forms the foundation of the Internet of Things (IoT). These networks are designed to sense, aggregate and transport sensed data to locations that may be local or remote to the sensory field, for immediate or stored for later use. In most cases, WSN generates heterogeneous data that conveys information of varying priorities which may be real-time (RT) or non-real-time (NRT). However, the de facto routing protocol; Routing Protocol for Low-power and Lossy Networks (RPL) is not optimized for heterogeneous data routing. Likewise, routing schemes proposed in the literature have not proffered a lasting solution. In this paper, we proposed the Shortest Path Priority-based RPL (SPPB-RPL). The SPPB-RPL scheme not only routes data with varying priorities but also does so with optimal network performances. Its application in a smart campus is used as a case study. The scheme uses the mechanism of class of service (CS) to classify and prioritized data into various priority classes. Subsequently, the standard RPL DIO base object was improved upon to accommodate the prioritized data classes, and finally, the Dijkstra Algorithm (DA) was adopted to generate the optimal shortest routing path leading to the destination node which is guided by the priority of the data. Benchmarked with related schemes, SPPB-RPL performed optimally with a 99.98% packet delivery ratio with the least latency. This enhanced the network performance for a prolonged operational lifetime.

关键词： Wireless sensor networks Routing Routing protocols Standards Security Real-time systems Random access memory

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Biometric recognition systems based on SVMPCA and SVMPCA,LDA techniques 3

Biometric recognition systems based on SVMPCA and SVMPCA,LDA...

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3rd World Conference on Smart Trends in Systems, Security and Sustainability, WorldS4 2019

作者： Al-Taie, Inas Azeez, Nassr Yahya, Wafa Basbrain, Arwa Clark, Adrian School of Computer Science and Electronic Engineering University of Essex United Kingdom Faculty of Education Mathematics Department University of Al-Hamdaniya Iraq Faculty of Computing and Information Technology University of King Abdul-Aziz Saudi Arabia

ISBN: (纸本)9781728137803

PCA is a common feature extraction and data representation method which is used mainly for dimensionality reduction in pattern recognition area. However, this method is usually affected by light illumination. Meanwhile, LDA is another popular dimensionality reduction technique that achieves maximum discrimination by finding the maximum ratio of the between to the within class distance. In this work, the performance of face and ear recognition using SVM based on pca and SVM based on a combination of pca and lda techniques have been examined with the PCA and LDA techniques depend on distance similarity measures. The experimental work shows that the recognition performance based on SVM_pca and SVM_pca,lda techniques outperform the recognition performance based on PCA using distance similarity measures. While, No significant differences were found using SVM_pca, SVM_pca,lda and LDA based on distance similarity measures. The experimental results using accuracy and the error rate indicated that the recognition depending on SVM_pca and SVM_pca,lda techniques lead to a best performance than using PCA based on distance similarity measures. . . . © 2019 IEEE.

关键词： Pattern recognition

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Halal industry 4.0 model for SMEs

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AIP Conference Proceedings 2022年第1期2617卷

作者： Raja Mohd Tariqi Raja Lope Ahmad Wan Azlan Wan Hassan Suziyanti Marjudi Azhar Hamid Mohd Fahmi Mohamad Amran 1Computing Department Faculty of Communication Visual Art and Computing University Selangor 45600 Bestari Jaya Selangor Malaysia 2Software Engineering Department Faculty of Computer Science & Information Technology Universiti Tun Hussein Onn Malaysia 86400 Johor Malaysia 3Computer Science Department Faculty of Science and Defense Technology Universiti Pertahanan Nasional Malaysia Kem Sungai Besi 57000 Kuala Lumpur Malaysia

The commitment between SMEs and stakeholders is very important in coordinating interrelated Halal business functions. However, Halal SMEs players have major obstacles in integrating information that can support their stakeholders with operational and functional requirements. Moreover, there are scanty supply chain comprehensive models that can engage Halal SMEs participants for digitalization. Therefore, the purpose of this study is to construct the Halal Industry 4.0 Model (HI4.0) in order to improve business engagement among SMEs within the Halal Industry 4.0 supply chain. Analysis and evaluation were conducted based on application of previous research work by using systematic literature review and thematic analysis to identify the elements and processes involved in the implementation of Halal related businesses. The outcomes show that HI4.0 consists of five main components which are Halal Knowledge Repository, Halal Supply Chain Management Systems Implementation Framework, Halal Smart Application Ecosystem, Halal Infrastructure, and Halal Integrity Assurance System. The findings contribute to the Halal Industry 4.0 framework development in which the model can benefit stakeholders' engagement with governing bodies, consumers and SMEs.

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Exploring Sulfur Chemistry in TMC-1 with NSRT

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Chinese Physics Letters 2024年第2期41卷 129-132页

作者： Wasim Iqbal Xiaohu Li Juan Tuo Ryszard Szczerba Yanan Feng Zhenzhen Miao Jiangchao Yang Jixing Ge Gleb Fedoseev Donghui Quan Qiang Chang Chuan-Lu Yang Tao Yang Gao-Lei Hou Yong Zhang Xuan Fang Xia Zhang Fangfang Li Rong Ma Xiaomin Song Zhiping Kou Yuxuan Sun Xinjiang Astronomical Observatory Chinese Academy of SciencesUrumqi 830011China Xinjiang Key Laboratory of Radio Astrophysics Urumqi 830011China Key Laboratory of Radio Astronomy Chinese Academy of SciencesNanjing 210008China University of Chinese Academy of Sciences Beijing 100049China Nicolaus Copernicus Astronomical Center Rabia´nska 887-100 Toru´nPoland Research Laboratory for Astrochemistry Ural Federal UniversityKuibysheva St.48620026 EkaterinburgRussia Astronomical Computing Research Center Zhejiang LaboratoryHangzhou 311100China School of Physics and Optoelectronic Engineering Shandong University of TechnologyZibo 255000China School of Physics and Optoelectronic Engineering Ludong UniversityYantai 264025China State Key Laboratory of Precision Spectroscopy East China Normal UniversityShanghai 200062China MOE Key Laboratory for Non-Equilibrium Synthesis and Modulation of Condensed Matter School of PhysicsXi’an Jiaotong UniversityXi’an 710049China School of Physics and Astronomy Sun Yat-sen UniversityGuangzhou 510275China Laboratory for Space Research Faculty of ScienceThe University of Hong KongHong KongChina National Astronomical Observatories Chinese Academy of SciencesBeijing 100012China

There have been several studies on sulfur depletion in dense cores like TMC-1(Taurus Molecular Cloud 1),employing updated reaction networks for sulfur species to explain the missing sulfur in the gas within dense *** of these studies used a C/O ratio of 0.7 or *** present NSRT(NanShan 26m Radio Telescope)observations of TMC-1 alongside results from time-dependent chemical simulations using an updated chemical *** findings highlight the impact of the C/O ratio on the gas-phase evolution of C2S and *** simulation results show that the C/O ratio is an important parameter,playing a fundamental role in determining the gas-phase abundances of sulfur species in dense cores.

关键词： sulfur Sulfur depletion

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