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arXiv 2023年

作者： Kästner, Linh Carstens, Reyk Nahrwold, Lena Liebig, Christopher Shcherbyna, Volodymyr Lee, Subhin Lambrecht, Jens The Chair Industry Grade Networks and Clouds Faculty of Electrical Engineering and Computer Science Berlin Institute of Technology Berlin Germany

In recent years, mobile robot navigation approaches have become increasingly important due to various application areas ranging from healthcare to warehouse logistics. In particular, Deep Reinforcement Learning approaches have gained popularity for robot navigation but are not easily accessible to non-experts and complex to develop. In recent years, efforts have been made to make these sophisticated approaches accessible to a wider audience. In this paper, we present Arena-Web, a web-based development and evaluation suite for developing, training, and testing DRL-based navigation planners for various robotic platforms and scenarios. The interface is designed to be intuitive and engaging to appeal to non-experts and make the technology accessible to a wider audience. With Arena-Web and its interface, training and developing Deep Reinforcement Learning agents is simplified and made easy without a single line of code. The web-app is free to use and openly available under the link stated in the supplementary materials. © 2023, CC BY.

关键词： Websites

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Holistic Deep-Reinforcement-Learning-based Training of Autonomous Navigation Systems

arXiv

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arXiv 2023年

作者： Kästner, Linh Meusel, Marvin Bhuiyan, Teham Lambrecht, Jens The Chair Industry Grade Networks and Clouds Faculty of Electrical Engineering and Computer Science Berlin Institute of Technology Berlin Germany

In recent years, Deep Reinforcement Learning emerged as a promising approach for autonomous navigation of ground vehicles and has been utilized in various areas of navigation such as cruise control, lane changing, or obstacle avoidance. However, most research works either focus on providing an end-to-end solution training the whole system using Deep Reinforcement Learning or focus on one specific aspect such as local motion planning. This however, comes along with a number of problems such as catastrophic forgetfulness, inefficient navigation behavior, and non-optimal synchronization between different entities of the navigation stack. In this paper, we propose a holistic Deep Reinforcement Learning training approach in which the training procedure is involving all entities of the navigation stack. This should enhance the synchronization between- and understanding of all entities of the navigation stack and as a result, improve navigational performance. We trained several agents with a number of different observation spaces to study the impact of different input on the navigation behavior of the agent. In profound evaluations against multiple learning-based and classic model-based navigation approaches, our proposed agent could outperform the baselines in terms of efficiency and safety attaining shorter path lengths, less roundabout paths, and less collisions. © 2023, CC BY.

关键词： Reinforcement learning

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Design and Implementation of a QoL Improvement System for Visually Impaired Patients 5

Design and Implementation of a QoL Improvement System for Vi...

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5th International Conference on Advances in Computational Tools for engineering Applications, ACTEA 2023

作者： Abi Zeid Daou, Roy Beaino, Jad Hawat, Johnny Ibrahim, Ramy Hayek, Ali Boercsoek, Josef Olmedo, Jose Javier Serrano Université la Sagesse Faculty of Engineering Mechatronics Department Beirut Lebanon MART Learning Education and Research Center Chananir Lebanon University of Applied Science Hamm-Lippstadt Department Lippstadt 2 Hardware Engineering Hamm59063 Germany University of Kassel Faculty of Electrical Engineering/Computer Science Department of Computer Architecture and System Programming Germany Centro de Tecnología Biomédica Universidad Politécnica de Madrid Lab of Bioinstrumentation and Nanomedicine Spain

ISBN: (纸本)9798350309959

Visually impaired people encounter several challenges in their mobility and navigation. Their daily activities are obstructed due to their inability to adapt or recognize accurately their surroundings, especially outside their house which they are more familiar with. Thus, it becomes the main reason of accidents, falling off, getting lost in unknown areas, etc. Furthermore, one of the sensory systems that helps the body to process data about the external environment is the visual system. Blind people also lose touch with the outside world, develops poor motor habits, which results in postural problems as a result. This project will assist visually impaired people in their daily life and simplify normal tasks through a system combining two previously designed projects, 'Smart Shoes for Blind and Visually Impaired People', and 'Human posture monitoring device'. The multifunctional system is developed with the goal of securing safe movements for visually impaired people as well as maintaining a good back posture by detecting leaning postures (LP). The purpose of the smart shoe is to identify obstacles and protect the user from unintended accidents. A compatible Android application has been developed to alert the user when there is an obstruction or when he is walking on a wet surface. Voice alarms will be used to acoustically alert the user. If the user collapses, a message with their position will be sent right away to a relative. On the other hand, the smart vest will identify the position of the user's back and alert him to maintain a straight posture through the same application as well. As the system is dealing with human health, some safety measurements would be taken into consideration to implement a safe electrical system in order to reduce error and to increase accuracy. © 2023 IEEE.

关键词： Accidents

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CSI-Based Human Activity Recognition using Convolutional Neural Networks 11

CSI-Based Human Activity Recognition using Convolutional Neu...

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11th International Conference on computer engineering and Knowledge, ICCKE 2021

作者： Moshiri, Parisa Fard Nabati, Mohammad Shahbazian, Reza Ghorashi, Seyed Ali Shahid Beheshti University G. C. Cognitive Telecommunication Research Group Department of Electrical Engineering Tehran Iran Standard Research Institute Faculty of Technology and Engineering Department of Electrical Engineering Alborz31745-139 Iran University of East London School of Architecture Computing and Engineering Department of Computer Science and Digital Technologies London United Kingdom

ISBN: (纸本)9781665402088

Human activity recognition (HAR) as an emerging technology can have undeniable impacts on several applications such as health monitoring, context-aware systems, transportation, robotics, and smart cities. Among the main research methods in HAR (sensor, image, and WiFi-based), the WiFi-based method has attracted considerable attention due to the ubiquity of WiFi devices. WiFi devices can be utilized to distinguish daily activities such as "walk", "run", and "sleep". These activities affect WiFi signal propagation and can be further used to recognize activities. This paper proposes a Deep Learning method for HAR tasks using channel state information (CSI). A new model is developed in which CSI data are converted to grayscale images. These images are then fed into a 2D-Convolutional Neural Network (CNN) for activity classification. We take advantage of CNN's high accuracy on image classification along with WiFi-based ubiquity. The experimental results demonstrate that our proposed approach achieves acceptable performance in HAR tasks. © 2021 IEEE.

关键词： Channel state information

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Manufacturing A Low-Cost Telegram and Optical Character Recognition-Based Indoor Air Quality Monitoring Data Logger 8

Manufacturing A Low-Cost Telegram and Optical Character Reco...

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8th International Conference on Information Management and Technology, ICIMTech 2023

作者： Pramono, Andi Budiman, Satrio Arif Farchan, Muchammad Mappaturi, Andi Baso School of Design Bina Nusantara University Interior Design Department Jakarta11480 Indonesia Brawijaya University Information System Computer Science Faculty Malang65145 Indonesia Institut Teknologi Sepuluh Nopember Faculty of Intelligent Electrical and Informatics Technology Department of Electrical Engineering Surabaya60111 Indonesia Islamic State University of Maulana Malik Ibrahim Faculty of Science and Technology Architecture Department Malang Indonesia

ISBN: (纸本)9798350326093

Urban air is frequently contaminated with CO, CO2, VOC, HCHO, PM 2.5, and PM 10. Rural regions are at a lower risk than those near roads and industrial areas that produce emissions. Air pollutants negatively affect its inhabitants' health, particularly the respiratory system. Most people will spend more time indoors, requiring a method for monitoring indoor air quality (IAQ). Urban communities need IAQ monitoring instruments as an early warning system for their health. This research seeks to produce inexpensive IAQ that can be utilized by all levels of society, particularly urban communities. This research utilizes a qualitative, design-thinking-based methodology. The research diverged from Empatize, which asserts that urban communities require a method for determining the local air quality. Moreover, it is determined at the define stage that IAQ monitoring, which includes a data log feature, is still comparatively expensive, so a solution is developed at the ideate stage. Creating a prototype is the next step in realizing the specified solution. In this investigation, they decided to use IAQ monitoring, which is relatively inexpensive but lacks log data storage. The author uses the ESP32-cam microcontroller to capture the screen display device, and the resulting image is sent to a telegram and processed with optical character recognition (OCR) to generate a data log. The results of prototype testing are utilized for prototype development. © 2023 IEEE.

关键词： Industrial emissions

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Efficient SDN-Based Traffic Monitoring in IoT Networks with Double Deep Q-Network 9th

Efficient SDN-Based Traffic Monitoring in IoT Networks with ...

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9th International Conference on Computational Data and Social Networks, CSoNet 2020

作者： Nguyen, Tri Gia Phan, Trung V. Hoang, Dinh Thai Nguyen, Tu N. So-In, Chakchai Faculty of Information Technology Duy Tan University Danang50206 Viet Nam Chair of Communication Networks Technische Universität Chemnitz Chemnitz09126 Germany School of Electrical and Data Engineering University of Technology Sydney SydneyNSW2007 Australia Department of Computer Science Purdue University Fort Wayne Fort WayneIN46805 United States Department of Computer Science Faculty of Science Khon Kaen University Khon Kaen40002 Thailand

ISBN: (纸本)9783030660451

In an Internet of Things (IoT) environment, network traffic monitoring tasks are intractable to achieve due to various IoT traffic types. Recently, the development of Software-Defined Networking (SDN) enables outstanding flexibility and scalability abilities in network control and management, thereby providing a potential approach to mitigate challenges in monitoring the IoT traffic. In this paper, we propose an IoT traffic monitoring approach that implements deep reinforcement learning technique to maximize the fine-grained monitoring capability, i.e., level of traffic statistics details, for several IoT traffic groups. Specifically, we first study a flow-rule matching control system constrained by different expected levels of statistics details and by the flow-table limit of the SDN-based gateway device. We then formulate our control optimization problem by employing the Markov decision process (MDP). Afterwards, we develop Double Deep Q-Network (DDQN) algorithm to quickly obtain the optimal flow-rule matching control policy. Through the extensive experiments, the obtained results verify that the proposed approach yields outstanding improvements in terms of the ability to simultaneously provide different required degrees of statistics details while protecting the gateway devices from being overflowed in comparisons with those of the conventional Q-learning method and the typical SDN flow rule setting. © 2020, Springer Nature Switzerland AG.

关键词： Reinforcement learning

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Classification of Arrhythmia ECG Signals using Convolutional Neural Network

Classification of Arrhythmia ECG Signals using Convolutional...

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International Conference on Systems, Signals and Image Processing, IWSSIP

作者： Marija Habijan Irena Galić Aleksandra Pizurica Faculty of Electrical Engineering Computer Science and Information Technology Osijek Osijek Croatia TELIN-GAIM Faculty of Engineering and Architecture Ghent University Ghent Belgium

The electrocardiogram (ECG) has been established as a reliable tool for monitoring cardiovascular health. Vast amount of ECG recordings can pose a challenge for its processing and analysis and seeking out experts to analyze such a large amount of ECG data can deplete valuable medical resources. Recently, there has been a growing interest in automatic methods for accurate heartbeat categorization. Our motivation behind this work is to improve efficiency and accuracy for arrhythmia classification based on convolutional neural networks (CNNs). We first pre-process the input signals by normalizing them using a z-score. Following the data segmentation, the under-represented classes are oversampled using random duplication. By randomly duplicating the samples of underrepresented categories and eliminating instances from the overrepresented categories, this approach minimizes the imbalance in the training data. We propose an efficient 12-layer 1D-CNN to classify cardiac arrhythmia into five classes. We demonstrate the oversampling technique’s impact on the proposed CNN’s performance by comparing its performance before and after its application.

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Deep-Reinforcement-Learning-Based Semantic Navigation of Mobile Robots in Dynamic Environments

arXiv

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arXiv 2020年

作者： Kästner, Linh Marx, Cornelius Lambrecht, Jens Chair Industry Grade Networks and Clouds Department Faculty of Electrical Engineering and Computer Science Technical University of Berlin Berlin Germany

Mobile robots have gained increased importance within industrial tasks such as commissioning, delivery or operation in hazardous environments. The ability to autonomously navigate safely especially within dynamic environments, is paramount in industrial mobile robotics. Current navigation methods depend on preexisting static maps and are error-prone in dynamic environments. Furthermore, for safety reasons, they often rely on hand-crafted safety guidelines, which makes the system less flexible and slow. Visual based navigation and high level semantics bear the potential to enhance the safety of path planing by creating links the agent can reason about for a more flexible navigation. On this account, we propose a reinforcement learning based local navigation system which learns navigation behavior based solely on visual observations to cope with highly dynamic environments. Therefore, we develop a simple yet efficient simulator - ARENA2D - which is able to generate highly randomized training environments and provide semantic information to train our agent. We demonstrate enhanced results in terms of safety and robustness over a traditional baseline approach based on the dynamic window approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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Heart Sound Classification using Deep Learning

Heart Sound Classification using Deep Learning

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International Multidisciplinary Conference on computer and Energy science (SpliTech)

Cardiac auscultation is the process of listening to the sounds of the heart with a stethoscope, which can provide important diagnostic information about a patient’s heart function. It is a key component of a physical examination and can help doctors identify potential heart problems such as murmurs, arrhythmias, and valve disorders. Deep learning-based cardiac auscultation is of great interest to medical professionals as it can reduce the burden of manual auscultation by automatically detecting abnormal heartbeats. However, automatic cardiac auscultation is a challenging task due to the need for dependable and precise results, as well as the interference of background noise in heart sounds. In this work, we propose a heart sound classification method that could potentially accelerate automated cardiac auscultation. The method is based on Long Short-Term Memory (LSTM) Recurrent Neural Networks (RNN). We use heart sounds from the dataset Classifying Heart Sounds Challenge and extract input features using Mel Frequency Cepstral Coefficients (MFCCs). Further, we examine the use of a simple data augmentation technique and show that adding noise, stretching, and shifting of heart sound signals significantly improves the classification accuracy of the normal, murmur, and artifact heart sounds.

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Estimation of the Left Ventricle Volume Using Semantic Segmentation

Estimation of the Left Ventricle Volume Using Semantic Segme...

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International Symposium on Electronics in Marine (ELMAR)

作者： Marija Habijan Hrvoje Leventić Irena Galić Danilo Babin Faculty of Electrical Engineering Computer Science and Information Technology Osijek Osijek Croatia imec-TELIN-IPI Faculty of Engineering and Architecture Ghent University Belgium

The left ventricle (LV) volume is a major indicator of heart disease. Current clinical procedure for volume estimation from magnetic resonance (MR) images include manual inspection by the experienced cardiologists, which is often a time-consuming process. This paper presents an automated method for LV volume estimation at two points in the time. The method consists of training a convolutional neural network (CNN) with the MR images from the Sunnybrook dataset. After that, the trained model is used to predict left ventricular segments in MR images from the Kaggle dataset. From predicted segments, the ventricular volumes at end-systole (ESV) and end-diastole (EDV) are calculated using numerical integration. The obtained results estimate the ESV and EDV with a mean absolute error of 14.688 and 19.222 mL, respectively.

关键词： Image segmentation Heart Training Volume measurement Magnetic resonance imaging Tensile stress Predictive models

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