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Self-adaptive rolling motion for snake robots in unstructured environments based on torque control

Biomimetic Intelligence & Robotics 2023年第3期3卷 59-66页

作者： Shihao Ma Fatao Qin Shufan Chen Longchuan Li Jianming Wang Zengzeng Wang Shuai Li Xuan Xiao School of Electronic and Information Engineering Tiangong UniversityTianjin 300382China College of Mechanical and Electrical Engineering Beijing University of Chemical TechnologyBeijing 100029China College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems Tianjin 300382China School of Computer Science and Technology Tiangong UniversityTianjin 300382China

Snake robots have great potential for exploring and operating in challenging unstructured environments,such as rubble,caves,and narrow ***,due to the complexity and unpredictability of unstructured environments,designing a controller that can achieve adaptive motion is *** paper proposes a self-adaptive torque-based rolling controller for snake robots,enabling compliant motion in unstructured ***,a controller is designed to modify the torque of each motor by focusing on the different motion states of the rolling ***,an experimental platform is established for snake robots to verify the effectiveness of the ***,a series of rolling experiments are conducted using the torque-based rolling *** conclusion,the self-adaptive torque-based rolling controller enhances snake robot adaptability and mobility.

关键词： Snake robot Torque-based control Self-adaptive rolling gait Unstructured environments

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A Design Study on Integrated Complex Coefficient Filters with Peripheral Circuits for Accurate Frequency Response Measurement

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, information and systems 2025年第1期145卷 16-24页

作者： Shouno, Kazuhiro Sato, Lina Fukagawa, Kanta Tanimoto, Hiroshi Muto, Cosy Division of Information Engineering University of Tsukuba 1-1-1 Tennoudai Ibaraki Tsukuba305-8573 Japan Graduate School of Science and Technology Degree Programs in Systems and Information Engineering Master’s Program in Computer Science University of Tsukuba Japan Kitami Institute of Technology 165 Koen-cho Hokkaido Kitami090-8507 Japan Faculty of Education Nagasaki University 1-14 Bunkyo-machi Nagasaki852-8521 Japan

This paper proposes a measurement technique for an integrated complex filter. The proposed method is based on two measurement methods with integrated circuitry for calibration. It is accomplished by applying square waves to an FUT (Filter Under Test) instead of sinusoidal waves or by superposing transfer characteristics obtained by applying a single sinusoidal wave to an FUT. In both of the above methods, the output signal connected to the external measurement equipment via a 50 Ω coaxial cable and so on. In this case, the output signal of the FUT should be amplified by internal or external amplifiers, which degrades the response. However, it is cancelled out by the proposed calibration circuitry with some analog switches. In addition to the above, for the RC polyphase filter, the source resistance and the load capacitance degrade the measurement results and their effect is discussed. The validity of the proposal is confirmed through computer simulation for a third-order RCPF whose passband is 8–40 MHz fabricated by Phenitec 0.6 µm CMOS process. It is shown that the measurement error is −1.10 dB for the square-wave method and −1.00 dB and −0.43 degrees for the superposition method at 40 MHz. © 2025 The Institute of Electrical Engineers of Japan.

关键词： Capacitance

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A Novel 3D Medical Image Segmentation Model Using Improved SAM

A Novel 3D Medical Image Segmentation Model Using Improved S...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Kuang, Yuansen Ma, Xitong Zhao, Jing Wang, Guangchen Zeng, Yijie Liu, Song Key Laboratory of Computing Power Network and Information Security Jinan China Shandong Engineering Research Center of Big Data Applied Technology Faculty of Computer Science and Technology Jinan China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Computer Networks Jinan China

ISBN: (纸本)9781665410205

3D medical image segmentation is an essential task in the medical image field, which aims to segment organs or tumours into different labels. A number of issues exist with the current 3D medical image segmentation task: existing models cannot simultaneously obtain the space correlation and depth correlation of 3D slices;previous models suffer from local detail loss of positional embedding in 3D images;previous approaches often have blurring of boundaries in segmenting 3D images. To solve these shortcomings, we propose a 3D medical image segmentation model named TPM-SAM. In our model, we design a twinchannel image encoder to simultaneously capture the space correlation and depth correlation of 3D slices through a multi-head attention mechanism and improved adapters. Furthermore, we design a prompt encoding generator, which divides the volumetric image into small blocks and better captures the local detail information. In addition, we introduce a multi-layer aggregation decoder by employing U-Net with multi-level skip connection to solve the blurring of boundaries in processing 3D images. Finally, we experimented and evaluated our model on KiTS21 and LiTS17 datasets to compare with other baseline models. © 2024 IEEE.

关键词： Image segmentation

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Robust control and data reconstruction for nonlinear epidemiological models using feedback linearization and state estimation

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Mathematical Biosciences and engineering 2025年第1期22卷 109-137页

作者： Csutak, Balázs Szederkényi, Gábor Faculty of Information Technology and Bionics Pázmány Péter Catholic University Práter u. 50/A BudapestH-1083 Hungary Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Kende u. 13-17 BudapestH-1111 Hungary

It has been clearly demonstrated over the past years that control theory can provide an efficient framework for the solution of several complex tasks in epidemiology. In this paper, we present a computational approach for the state estimation based reference tracking control and historical data reconstruction using nonlinear compartmental epidemic models. The control model is given in nonlinear input-affine form, where the manipulable input is the disease transmission rate influenced by possible measures and restrictions, while the observed or computed output is the number of infected people. The control design is built around a simple SEIR model and relies on a feedback linearization technique. We examine and compare different control setups distinguished by the availability of state information, complementing the directly measurable data with an extended Kalman filter used for state estimation. To illustrate the capabilities and robustness of the proposed method, we carry out multiple case studies for output tracking and data reconstruction on Swedish and Hungarian data, all in the presence of serious model and parameter mismatch. Computation results show that a well-designed feedback, even in the presence of significant observation uncertainties, can sufficiently reduce the effect of modeling errors. © 2025 the Authors,

关键词： Feedback linearization

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Smart-Fragile Authentication Scheme for Robust Detecting of Tampering Attacks on English Text

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computers, Materials & Continua 2022年第5期71卷 2497-2513页

作者： Mohammad Alamgeer Fahd N.Al-Wesabi Huda G.Iskandar Imran Khan Nadhem Nemri Mohammad Medani Mohammed Abdullah Al-Hagery Ali Mohammed Al-Sharafi Department of Information Systems King Khalid UniversityMuhayel AseerKingdom of Saudi Arabia Department of Computer Science King Khalid UniversityMuhayel AseerKingdom of Saudi Arabia Faculty of Computer and IT Sana’a UniversitySana’aYemen School of Computing Faculty of EngineeringUniversiti Teknologi MalaysiaMalaysia Department of Electrical Engineering University of Engineering and Technology PeshawarPakistan Department of Computer Science College of ComputerQassim UniversitySaudi Arabia Department of Computer Science College of Computers and Information TechnologyUniversity of BishaKSA

Content authentication,integrity verification,and tampering detection of digital content exchanged via the internet have been used to address a major concern in information and communication *** this paper,a text zero-watermarking approach known as Smart-Fragile Approach based on Soft Computing and Digital Watermarking(SFASCDW)is proposed for content authentication and tampering detection of English text.A first-level order of alphanumeric mechanism,based on hidden Markov model,is integrated with digital zero-watermarking techniques to improve the watermark robustness of the proposed *** researcher uses the first-level order and alphanumeric mechanism of Markov model as a soft computing technique to analyze English ***,he extracts the features of the interrelationship among the contexts of the text,utilizes the extracted features as watermark information,and validates it later with the studied English text to detect any *** has been implemented using PHP with VS code *** robustness,effectiveness,and applicability of SFASCDW are proved with experiments involving four datasets of various lengths in random locations using the three common attacks,namely insertion,reorder,and *** SFASCDW was found to be effective and could be applicable in detecting any possible tampering.

关键词： Watermarking soft computing text analysis hidden Markov model content authentication

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Prediction of Geopolymer Concrete Compressive Strength Using Convolutional Neural Networks

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computer Modeling in engineering & Sciences 2024年第5期139卷 1455-1486页

作者： Kolli Ramujee Pooja Sadula Golla Madhu Sandeep Kautish Abdulaziz S.Almazyad Guojiang Xiong Ali Wagdy Mohamed Department of Civil Engineering VNR Vignana Jyothi Institute of Engineering and TechnologyHyderabadTelangana500090India Department of Information Technology VNR Vignana Jyothi Institute of Engineering and TechnologyHyderabadTelangana500090India Department of Computer Science LBEF Campus(Asia Pacific University of Technology&InnovationMalaysia)Kathmandu44600Nepal Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityP.O.Box 51178Riyadh11543Saudi Arabia Guizhou Key Laboratory of Intelligent Technology in Power System College of Electrical EngineeringGuizhou UniversityGuiyang550025China Operations Research Department Faculty of Graduate Studies for Statistical ResearchCairo UniversityGiza12613Egypt Applied Science Research Center Applied Science Private UniversityAmmanJordan

Geopolymer concrete emerges as a promising avenue for sustainable development and offers an effective solution to environmental *** attributes as a non-toxic,low-carbon,and economical substitute for conventional cement concrete,coupled with its elevated compressive strength and reduced shrinkage properties,position it as a pivotal material for diverse applications spanning from architectural structures to transportation *** this context,this study sets out the task of using machine learning(ML)algorithms to increase the accuracy and interpretability of predicting the compressive strength of geopolymer concrete in the civil engineering *** achieve this goal,a new approach using convolutional neural networks(CNNs)has been *** study focuses on creating a comprehensive dataset consisting of compositional and strength parameters of 162 geopolymer concrete mixes,all containing Class F fly *** selection of optimal input parameters is guided by two distinct *** first criterion leverages insights garnered from previous research on the influence of individual features on compressive *** second criterion scrutinizes the impact of these features within the model’s predictive *** to enhancing the CNN model’s performance is the meticulous determination of the optimal *** a systematic trial-and-error process,the study ascertains the ideal number of epochs for data division and the optimal value of k for k-fold cross-validation—a technique vital to the model’s *** model’s predictive prowess is rigorously assessed via a suite of performance metrics and comprehensive score ***,the model’s adaptability is gauged by integrating a secondary dataset into its predictive framework,facilitating a comparative evaluation against conventional prediction *** unravel the intricacies of the CNN model’s learning trajectory,a loss plot is deployed to elucidate its learning rat

关键词： Class F fly ash compressive strength geopolymer concrete prediction deep learning convolutional neural network

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Challenges and future directions of secure federated learning:a survey

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Frontiers of computer Science 2022年第5期16卷 173-180页

作者： Kaiyue ZHANG Xuan SONG Chenhan ZHANG Shui YU Department of Computer Science and Engineering Southern University of Science and TechnologyShenzhen 518055China Faculty of Engineering and Information Technology University of Technology SydneySydney 2007Australia SUSTech-UTokyo Joint Research Center on Super Smart City Department of Computer Science and EngineeringSouthern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Department of Computer Science and EngineeringSouthern University of Science and TechnologyShenzhen 518055China

Federated learning came into being with the increasing concern of privacy security,as people’s sensitive information is being exposed under the era of big *** is an algorithm that does not collect users’raw data,but aggregates model parameters from each client and therefore protects user’s ***,due to the inherent distributed nature of federated learning,it is more vulnerable under attacks since users may upload malicious data to break down the federated learning *** addition,some recent studies have shown that attackers can recover information merely from ***,there is still lots of room to improve the current federated learning *** this survey,we give a brief review of the state-of-the-art federated learning techniques and detailedly discuss the improvement of federated *** open issues and existing solutions in federated learning are *** also point out the future research directions of federated learning.

关键词： federated learning privacy protection security

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Robust Multiresolution and Multistain Background Segmentation in Whole Slide Images 23rd

Robust Multiresolution and Multistain Background Segmentatio...

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Proceedings of the 23rd Polish Conference on Biocybernetics and Biomedical engineering, PCBEE 2023

作者： Jurgas, Artur Wodzinski, Marek Atzori, Manfredo Müller, Henning Information Systems Institute Sierre Switzerland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Krakow Poland Department of Neuroscience University of Padova Padova Italy Medical Faculty University of Geneva Geneva Switzerland

ISBN: (纸本)9783031384295

Background segmentation is an important step in analysis of histopathological images. It allows one to remove irrelevant regions and focus on the tissue of interest. However, background segmentation is challenging due to the variability of stain colors and intensity levels across different images, modalities, and magnification levels. In this paper, we present a learning-based model for histopathology background segmentation based on convolutional neural networks. We compare two multiresolution approaches to deal with the variability of magnification in histopathology images: (i) model that uses upscaling of smaller patches of the image, and (ii) model simultaneously trained on multiple resolution levels. Our model is characterized by solid performance both in multiresolution and multistain dyes (H &E and IHC), achieving good performance on publicly available dataset. The quantitative scores are, in terms of the Dice score, close to 94.71. The qualitative analysis presents strong performance on previously unseen cases from different distributions and various dyes. We freely release the model, weights, and ground-truth annotations to promote the open science and reproducible research. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Pathology

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Meta-heuristics for Feature Selection and Classification in Diagnostic Breast Cancer

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computers, Materials & Continua 2022年第10期73卷 749-765页

作者： Doaa Sami Khafaga Amel Ali Alhussan El-Sayed M.El-kenawy Ali E.Takieldeen Tarek M.Hassan Ehab A.Hegazy Elsayed Abdel Fattah Eid Abdelhameed Ibrahim Abdelaziz A.Abdelhamid Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh11671Saudi Arabia Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt Communications and Computers Engineering Department Faculty of EngineeringDelta University for Science and TechnologyInternational Coastal RoadGamasa CityDakhliyaEgypt Faculty of Applied Health Science Technology Delta University for Science and TechnologyMansoura35712Egypt Faculty of Medicine Head of Internal Medicine DepartmentDelta University for Science and TechnologyMansouraEgypt Computer Engineering and Control Systems Department Faculty of EngineeringMansoura University35516MansouraEgypt Department of Computer Science Faculty of Computer and Information SciencesAin Shams University11566CairoEgypt Department of Computer Science College of Computing and Information TechnologyShaqra University11961Saudi Arabia

One of the most common kinds of cancer is breast *** early detection of it may help lower its overall rates of *** this paper,we robustly propose a novel approach for detecting and classifying breast cancer regions in thermal *** proposed approach starts with data preprocessing the input images and segmenting the significant regions of *** addition,to properly train the machine learning models,data augmentation is applied to increase the number of segmented regions using various scaling *** the other hand,to extract the relevant features from the breast cancer cases,a set of deep neural networks(VGGNet,ResNet-50,AlexNet,and GoogLeNet)are *** resulting set of features is processed using the binary dipper throated algorithm to select the most effective features that can realize high classification *** selected features are used to train a neural network to finally classify the thermal images of breast *** achieve accurate classification,the parameters of the employed neural network are optimized using the continuous dipper throated optimization *** results show the effectiveness of the proposed approach in classifying the breast cancer cases when compared to other recent approaches in the ***,several experiments were conducted to compare the performance of the proposed approach with the other *** results of these experiments emphasized the superiority of the proposed approach.

关键词： Breast cancer image segmentation dipper throated optimization feature selection meta-heuristics

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IoT-based remote control for robotic arm

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International Journal of systems, Control and Communications 2024年第2期15卷 146-158页

作者： Do, Tri Nhut Department of Embedded Systems and Robotics Faculty of Computer Engineering University of Information Technology Viet Nam Vietnam National University Ho Chi Minh City 1 Han Thuyen Street Linh Trung Ward Thu Duc Ho Chi Minh City71308 Viet Nam

Robotic arms can perform various tasks with high accuracy, efficiency, and safety, especially in hazardous environments. This paper presents four degrees of freedom robotic arm that can be controlled remotely by two methods: direct control via Wi-Fi and indirect control via internet. We have designed an embedded system that allows the user to manipulate the robotic arm by moving the robot hand in different directions. We have also developed two software applications for remote control: one using MIT inventor 2 tool for direct control, and another using a web-based interface for indirect control. The software applications enable the user to adjust the angles of the four servo motors that drive the robotic arm in both clockwise and counter – clockwise directions. We have conducted several experiments to demonstrate the feasibility and stability of our system under different scenarios. Our results show that our system can perform wireless control of the robotic arm effectively using various mobile devices such as phone, tablet, or computer such as laptop, personal computer. © 2024 Inderscience Enterprises Ltd.

关键词： Robotic arms

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