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

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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Integrating Structural Information: Comparing Classification-Based and Segmentation-Based Predictors in Bioinformatics (Case Study: Protein-Peptide Region Residue-Level Interaction) Using Structural Information

Integrating Structural Information: Comparing Classification...

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International CSI computer Conference, CSICC

作者： Shima Shafiee Abdolhossein Fathi Faezeh Safari Department of Computer Engineering and Information Technology Razi University Kermanshah Iran Faculty of Eng. Architecture and Info. Tech. School of Electrical Eng. and Computer Science University of Queensland Brisbane QLD Australia

ISBN: (数字)9798331523114

ISBN: (纸本)9798331523121

Understanding the regions where proteins bind to peptides is vital for studying diseases like cancer, as it sheds light on various cellular processes and aids in drug discovery. Although researchers can experimentally investigate protein-peptide interactions at the region level by analyzing the structures of their complexes, only a limited number of these structures are known. Additionally, experiments to determine these interactions can be both costly and time-consuming. Computational methods provide an alternative and complementary approach to experimental techniques. As a result, using computational methods to predict peptide-binding regions can significantly enhance the efficiency and cost-effectiveness of experimental research. To leverage these advantages, this study introduces a new method named Structure-based Prediction of Residue-level Interaction of Peptides (SPRINT-Pep), designed to pinpoint the binding regions between proteins and peptides. This approach leverages two distinct predictive models: a classification-based model combining DeepResNet with a Support Vector Machine (SVM) and a segmentation-based model called DeepU-Net. Our predictions outperform other state-of-the-art methods in terms of F-measures (by at least 23%), precision (by at least 3.7%), and the balance between sensitivity and specificity (by about 7.7%). These findings demonstrate the proficiency of the proposed method.

关键词： Proteins Support vector machines Deep learning Peptides Predictive models Sensitivity and specificity Prediction algorithms Robustness Drug discovery Testing

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Maximizing Energy Efficiency in IRS-Assisted Phase Cooperative PS-SWIPT based Self-Sustainable IoT Network

IEEE Open Journal of the Communications Society

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IEEE Open Journal of the Communications Society 2025年 6卷 4311-4327页

作者： Sadia, Haleema Hassan, Ahmad Kamal Abbas, Ziaul Haq Abbas, Ghulam Baker, Thar Saeed, Nasir United Arab Emirates University College of Engineering Department of Electrical and Communication Engineering Al Ain United Arab Emirates Ghulam Ishaq Khan Institute of Engineering and Technology Faculty of Electrical Engineering Pakistan Ghulam Ishaq Khan Institute of Engineering and Technology Faculty of Computer Science and Engineering Pakistan University of Brighton School of Architecture Technology and Engineering Brighton BN2 4GJ United Kingdom

Power splitting based simultaneous wireless information and power transfer (PS-SWIPT) appears to be a promising solution to support future self-sustainable Internet of Things (SS-IoT) networks. However, the performance of these networks is constrained by radio frequency signal strength and channel impairments. To overcome this challenge, intelligent reflecting surfaces (IRSs) have recently been introduced in IoT networks to improve network efficiency by controlling signal reflections. In this article, we propose a novel IRS-enabled phase cooperative framework that aims to maximize the energy efficiency (EE) of the PS-SWIPT based SS-IoT network. Our framework leverages the idea of phase cooperation between two distinct networks without requiring additional hardware resources. We employed transmit beamforming (BF) at access points (APs) and phase shift optimization at the IRS with effective phase cooperation between APs. The EE maximization problem turns out to be NP-hard, so first, an alternating optimization (AO) is solved for the user’s network using heuristic BF approaches and phase optimization via semidefinite relaxation (SDR) approaches. To combat the computational complexity of AO, we also propose a low-complexity alternative solution by exploiting heuristic BF schemes and an iterative algorithm, i.e., the element-wise block-coordinate descent method for phase shifts optimization. The proposed solutions’ analysis shows low computational complexity and fast convergence, achieving near-optimal EE performance for different network settings. We conducted extensive simulations to evaluate our proposed framework’s performance and unveiled significant EE performance achieved by the IoT network consistent with the numerical findings. This work demonstrates the potential of IRS phase cooperation for enhancing the EE of different networks without constraining hardware resources. © 2020 IEEE.

关键词： beamforming energy efficiency Intelligent reflecting surface (IRS) Internet of Things (IoT) phase cooperative network power splitting SWIPT

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Enhancing Elderly Care with Socially Assistive Robots: A Holistic Framework for Mobility, Interaction, and Well-Being

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IEEE Access 2025年 13卷 82698-82717页

作者： Naseer, Fawad Khan, Muhammad Nasir Tahir, Muhammad Addas, Abdullah Kashif, Hasnain Beaconhouse International College Computer Science and Software Engineering Department Faisalabad38000 Pakistan Government College University Lahore Electrical Engineering Department Lahore Pakistan Sir Syed University of Engineering and Technology Department of Software Engineering Karachi Pakistan Prince Sattam Bin Abdulaziz University College of Engineering Department of Civil Engineering Alkharj11942 Saudi Arabia Faculty of Architecture and Planning King Abdulaziz University Landscape Architecture Department P.O. Box 8 0210 Jeddah21589 Saudi Arabia University of South Asia Department of Computer Science Lahore Pakistan

The global elderly population is projected to double by 2050, creating challenges in mobility, social isolation, and cognitive decline. Socially Assistive Robots (SARs) offer a promising solution, yet gaps remain in integrating mobility assistance with cognitive and emotional support. The research developed a comprehensive framework for SARs, emphasizing user-centered design, technological innovation, and cultural adaptability. A mixed-methods approach was employed with 200 participants aged 60+, from diverse settings, including rehab centers, retired groups, old age communities and nursing homes. Results demonstrated a 33.3% improvement in mobility scores and a 40% increase in social engagement. Health metrics revealed a 22% reduction in falls, a 15% rise in physical activity, and a 90% user satisfaction rate. Gender and age differences were evident, with males aged 71+ showing higher mobility improvements (35.6%) and females aged 71+ reporting the highest satisfaction (93%). Long-term data indicated sustained benefits, with participants retaining 80% of mobility gains and social engagement levels 38% above baseline after six months. These findings highlight the importance of culturally sensitive and user-centered SAR designs in promoting elderly well-being. The research offers a robust foundation for integrating SARs into elderly care systems, emphasizing adaptability, sustainability, and ethical considerations for future implementation. © 2013 IEEE.

关键词： Nursing

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Critical assessment of opal mining techniques, tools, market system, environmental impact challenges, and prospects — A systematic review

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Arabian Journal of Geosciences 2025年第6期18卷 1-14页

作者： Adamu, Anteneh Yayeh Eneyew, Demessie Mulu Ejigu, Assamen Ayalew Dubiniewicz, Andrzej Kajetan Endalew, Sisay Awoke Nigussie, Asmare Belay Amognehegn, Asnake Enawgaw School of Civil and Water Resource Engineering & Architecture Kombolcha Institute of Technology Kombolcha Ethiopia Department of Electrical and Computer Engineering Kombolcha Institute of Technology Kombolcha Ethiopia Faculty of Earth Sciences and Spatial Management Nicolaus Copernicus University Torun Poland Department of Chemistry College of Natural Science Wollo University Dessie Ethiopia

The study presents the existing challenges in opal mining in the Delanta area (mining methods, tools, market system, and environmental impact) and provides possible recommendations to overcome these challenges. Literature review, data collection, field survey, and data analysis were used as methods for this study. Environmental impact assessment also applied in the study area. Based on the study, the opal mining system in the Delanta area is performed in traditional ways and this method is not benefiting the local miners as well as the country. In the area, due to roof collapse of mining sites, three to eight artesian small-scale miners are dying each year. Opal quality deterioration (wastes locally called Ajara) because of cracking is the other main challenge in the study area. Moreover, environmental problems such as deforestation, concealed underground channels, landslides, the loss of numerous species’ habitats, annihilation of flora, land degradation, soil erosion and pollution, water pollution, air pollution, downstream sedimentation, and the covering of topsoil on agricultural land, which affects the farming system are the main findings of this study. In the study area, only 3% of the opal is processed, while 97% is rough, and this results in loss of income for the country. Finally, the study indicated the possible solutions in opal exploration and mining methods, as well as market system for the safe and sustainable extraction of Delanta opal resources. The study recommended for future work to design a safe mining method, a ventilation shaft, develop a smartphone app for quality grading and branding for selling, developing a low-cost opal cutting and polishing machine for value addition, and establishing training centers. In addition, the sector in the area also needs solar systems planting for lighting of mining sites, design and development of waste soil removal technology/conveyors and hammers for safe mining, sustainable development and management.

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Design of Miniaturized Metamaterial Reflector with Doubly Interdigital Structure for 5G Use Cases

Design of Miniaturized Metamaterial Reflector with Doubly In...

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International electrical engineering Congress (iEECON)

作者： Tanee Somwong Pongsathorn Chomtong Jirayut Khamsuthat Nonchanutt Chudpooti Prayoot Akkaraekthalin Department of Electronic and Telecommunications Engineering Faculty of Engineering and Architecture Rajamangala University of Technology Suvarnabhumi Nonthaburi Thailand Department of Teacher Training in Electrical Engineering Faculty of Technical Education King Mongkut’s University of Technology North Bangkok Bangkok Thailand Department of Industrial Physics and Medical Instrumentation Faculty of Applied Science King Mongkut’s University of Technology North Bangkok Bangkok Thailand Department of Electrical and Computer Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangkok Thailand

ISBN: (数字)9798331543952

ISBN: (纸本)9798331543969

This paper presents the design of a miniaturized metamaterial reflector composing of an open-loop transmission line unit cell structure. The transmission line ends are connected by using a double interdigital technique, resulting in a large capacitive value compared to the conventional methods. When combined with the open-loop line employing the trisection step-impedance structure with adjusting of the capacitive value, its second and third resonant frequencies will be controllable. As a result, this approach can reduce the unit cell size from a typical value of λ/2 to an approximate value of λ/16, therefore overall size of the reflector is significantly decreased. The designed unit cell is measured to be 1.05 cm × 1.0 cm. We implemented the proposed reflector on an FR-4 PCB with a relative permittivity of about 4.4, a substrate height (h) of 1.6 mm, and a loss tangent of about 0.02. The operating frequency range targets of 5G use cases were set to be at 1.8 GHz, 2.6 GHz and 3.5 GHz, respectively. When used with a dipole antenna, the bandwidths of 390 MHz, 604 MHz, and 1.1 GHz and the antenna gains of about 8.23 dB, 8.14 dB, and 8.19 dB were obtained at the operating frequencies, respectively.

关键词： Wireless communication 5G mobile communication Dipole antennas Simulation Resonant frequency Reflector antennas Transmission line measurements Metamaterials Gain Substrates

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A methodological framework for estimating ambient PM_(2.5)particulate matter concentrations in the UK

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Journal of Environmental sciences 2025年第4期150卷 676-691页

作者： David Galán-Madruga Parya Broomandi Alfrendo Satyanaga Ali Jahanbakhshi Mehdi Bagheri Aram Fathian Rasoul Sarvestan J.Cárdenas-Escudero J.O.Cáceres Prashant Kumar Jong Ryeol Kim Department of Atmospheric Pollution National Centre for Environment HealthHealth Institute Carlos III.Ctra.Majadahonda a Pozuelo km 2.2Madrid 28220Spain Department of Civil and Environmental Engineering School of Engineering and Digital SciencesNazarbayev UniversityKabanbay Batyr Ave.53Astana 010000Kazakhstan Department of Electrical and Computer Engineering School of Engineering and Digital SciencesNazarbayev UniversityKabanbay Batyr Ave.53Astana 010000Kazakhstan School of Architecture Building and Civil EngineeringLoughborough UniversityLeicestershire LE113TUUnited Kingdom Neotectonics and Natural Hazards Institute RWTH Aachen UniversityAachen 52056Germany UNESCO Chair on Coastal Geo-Hazard Analysis Research Institute for Earth SciencesTehran 13185-1494Iran Water SedimentHazardsand Earth-surface Dynamics(waterSHED)LabDepartment of GeoscienceUniversity of CalgaryCalgary Alberta T2N 1N4Canada Department of Climatology Faculty of Geography and Environmental SciencesHakim Sabzevari UniversitySabzevar ***Iran Laser Chemistry Research Group Department of Analytical ChemistryFaculty of ChemistryComplutense University of MadridPlaza de Ciencias 1Madrid 28040Spain Analytical Chemistry Department FCNETUniversity of PanamaUniversity CityUniversity MailPanama 4Panama City 3366Panama Global Centre for Clean Air Research(GCARE) School of SustainabilityCivil and Environmental EngineeringFaculty of Engineering and Physical SciencesUniversity of SurreyGuildford GU27XHUnited Kingdom Institute for Sustainability University of SurreyGuildford GU27XHUnited Kingdom

Scientific evidence sustains PM_(2.5)particles’inhalation may generate harmful impacts on human beings’health;therefore,theirmonitoring in ambient air is of paramount relevance in terms of public *** to the limited number of fixed stations within the air qualitymonitoring networks,development ofmethodological frameworks tomodel ambient air PM_(2.5)particles is primordial to providing additional information on PM_(2.5)exposure and its *** this sense,this work aims to offer a global easily-applicable tool to estimate ambient air PM_(2.5)as a function of meteorological conditions using a multivariate *** PM_(2.5)data measured by 84 fixed monitoring stations and meteorological data from ERA5(ECMWF Reanalysis v5)reanalysis daily based data between 2000 and 2021 across the United Kingdom were attended to develop the suggested *** from January 2017 to December 2020 were employed to build amathematical expression that related the dependent variable(PM_(2.5))to predictor ones(sea-level pressure,planetary boundary layer height,temperature,precipitation,wind direction and speed),while 2021 data tested the *** indicators evidenced a good performance of model(maximum values of RMSE,MAE and MAPE:1.80μg/m^(3),3.24μg/m^(3),and 20.63%,respectively),compiling the current legislation’s requirements for modelling ambient air PM_(2.5)concentrations.A retrospective analysis of meteorological features allowed estimating ambient air PM_(2.5)concentrations from 2000 to *** highest PM_(2.5)concentrations relapsed in theMid-and Southlands,while Northlands sustained the lowest concentrations.

关键词： Air quality PM_(2.5)particles Meteorological variables Prediction model Long-term trend

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Dual-step optimization for binary sequences with high merit factors

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Digital Signal Processing: A Review Journal 2025年 165卷

作者： Pšeničnik, Blaž Mlinarič, Rene Brest, Janez Bošković, Borko Computer Architecture and Languages Laboratory Institute of Computer Science Faculty of Electrical Engineering and Computer Science University of Maribor Koroška c. 46 Maribor2000 Slovenia

The problem of finding aperiodic low auto-correlation binary sequences (LABS) presents a significant computational challenge, particularly as the sequence length increases. Such sequences have important applications in communication engineering, physics, chemistry, and cryptography. This paper introduces a dual-step algorithm for long binary sequences with high merit factors. The first step employs a parallel algorithm utilizing skew-symmetry and restriction classes to generate sequence candidates with merit factors above a predefined threshold. The second step uses a priority queue algorithm to refine these candidates further, searching the entire search space unrestrictedly. By combining GPU-based parallel computing and dual-step optimization, our approach has successfully identified best-known binary sequences for all lengths ranging from 450 to 527, with the exception of length 518, where the previous best-known merit factor value was matched with a different sequence. This hybrid method significantly outperforms traditional exhaustive and stochastic search methods, offering an efficient solution for finding long sequences with good merit factors. © 2025 The Author(s)

关键词： Digital arithmetic

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A New IoT-Based Smart Greenhouse for Cultivation of Water Convolvulus

A New IoT-Based Smart Greenhouse for Cultivation of Water Co...

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International electrical engineering Congress (iEECON)

作者： Prayoot Akkaraekthalin Tanee Somwong Nonchanutt Chudpooti Nuttawut Hirun Suwaluck. Meesomklin Department of Electrical and Computer Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangkok Thailand Department of Electronic and Telecommunications Engineering Faculty of Engineering and Architecture Rajamangala University of Technology Suvarnabhumi Nonthaburi Thailand Department of Industrial Physics and Medical Instrumentation Faculty of Applied Science King Mongkut’s University of Technology North Bangkok Bangkok Thailand Department of Electronics Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangkok Thailand

ISBN: (数字)9798331543952

ISBN: (纸本)9798331543969

This paper presents a new IOT system for monitoring and controlling plant cultivation in greenhouse system. The system aims to regulate and monitor the environmental conditions suitable for plant cultivation in real-time. The system utilizes sensors to measure environmental conditions, such as soil moisture sensor, light intensity sensor, temperature sensor, and air humidity sensor. The Node MCU ESP32 is used for processing and controlling these operations. The system is designed to send notifications through Line application and allows farmers to monitor the system's performance and plant growth in real-time via a smartphone application. It can utilize the Blynk IoT application on a smartphone for remotely monitoring and controlling the environmental conditions and provides historical data. This experiment demonstrates that the designed system can successfully cultivate plants and promote better growth compared to traditional cultivation methods with a 13.38% improvement. Additionally, it provides convenience and ease of management for plant cultivation.

关键词： Temperature sensors Temperature measurement Smart agriculture System performance Green products Sensor systems Real-time systems Sensors Internet of Things Monitoring

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Gain-analytical equations generalized for FOPID controllers — An application with DC–DC power converters

e-Prime - Advances in Electrical Engineering, Electronics an...

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e-Prime - Advances in electrical engineering, Electronics and Energy 2025年 12卷

作者： Pereira, Luís Felipe da S.C. Volpato, Anderson S. Batista, Edson Antonio de Brito, Moacyr A.G. Godoy, Ruben B. Pinto, João O.P. Tolbert, Leon M. Faculty of Engineering Architecture and Urban Planning and Geography Federal University of Mato Grosso do Sul University City Campo Grande 79070-900 Brazil Oak Ridge National Laboratory Oak Ridge TN United States Min H. Kao Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN United States

This study presents algebraic formulations for determining the gains of a fractional-order PID (FOPID) regulator, with attention to gain crossover frequency, phase margin, and robustness against gain variations (iso-damping). The differential evolution (DE) algorithm is employed for optimal tuning of fractional-order values, aligned with FOPID gain parameters. FPGA-in-the-loop simulations for Buck and DC–DC Boost converters are conducted to validate the DE-tuned FOPID controllers, optimized using the L² norm and compared to MATLAB-Simulink simulations. The approach introduces a key innovation: disaggregating the FOPID equation for memory efficiency. Simulations and experiments demonstrate the controller's precision in setpoint tracking and resilience to load and input voltage variations in Buck and DC–DC Boost converters, with effective damping of load disturbances. A test bench validated the proposed method, which was also compared to conventional PID, Type 3, and PIDD2-IMC controllers. While the proposed FOPID controller performed better in the presented results, a conclusive comparison could not be drawn due to unequal tuning efforts. Future work will focus on a more thorough comparison of controllers. © 2025

关键词： Buck converter DC–DC boost converter Differential evolution FPGA-in-the-loop Fractional-order PID Oustaloup filter

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