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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Tsikelis, Ioannis Chatzilygeroudis, Konstantinos University of Patras Computer Engineering and Informatics Department PatrasGR-26504 Greece Department of Electrical & Computer Engineering PatrasGR-26504 Greece Department of Mathematics PatrasGR-26110 Greece

ISBN: (纸本)9798350373578

Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility and payload capacity, excelling in diverse environments while maintaining efficiency in transporting heavy loads. However, planning and optimizing gaits and gait sequences for these robots presents significant challenges due to the complexity of their dynamic motion and the numerous optimization variables involved. Traditional trajectory optimization methods address these challenges by formulating the problem as an optimization task, aiming to minimize cost functions, and to automatically discover contact sequences. Despite their structured approach, optimization-based methods face substantial difficulties, particularly because such formulations result in highly nonlinear and difficult to solve problems. To address these limitations, we propose CrEGOpt, a bi-level optimization method that combines traditional trajectory optimization with a black-box optimization scheme. CrEGOpt at the higher level employs the Mixed Distribution Cross-Entropy Method to optimize both the gait sequence and the phase durations, thus simplifying the lower level trajectory optimization problem. This approach allows for fast solutions of complex gait optimization problems. Extensive evaluation in simulated environments demonstrates that CrEGOpt can find solutions for biped, quadruped, and hexapod robots in under 10 seconds. This novel bi-level optimization scheme offers a promising direction for future research in automatic contact scheduling. © 2024 IEEE.

关键词： Cost functions

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Benchmarking visual SLAM methods in mirror environments

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Computational Visual Media 2024年第2期10卷 215-241页

作者： Peter Herbert Jing Wu Ze Ji Yu-Kun Lai School of Computer Science and Informatics Cardiff UniversityAbacws BuildingSenghennydd RdCardiff CF244AGUK School of Engineering Cardiff UniversityQueen’s BuildingsThe ParadeCardiff CF243AAUK

Visual simultaneous localisation and mapping(vSLAM)finds applications for indoor and outdoor navigation that routinely subjects it to visual complexities,particularly mirror *** effect of mirror presence(time visible and its average size in the frame)was hypothesised to impact localisation and mapping performance,with systems using direct techniques expected to perform ***,a dataset,MirrEnv,of image sequences recorded in mirror environments,was collected,and used to evaluate the performance of existing representative *** ORB-SLAM3 and BundleFusion appear to show moderate degradation of absolute trajectory error with increasing mirror duration,whilst the remaining results did not show significantly degraded localisation *** mesh maps generated proved to be very inaccurate,with real and virtual reflections colliding in the reconstructions.A discussion is given of the likely sources of error and robustness in mirror environments,outlining future directions for validating and improving vSLAM performance in the presence of planar *** MirrEnv dataset is available at https://***/10.17035/d.2023.0292477898.

关键词： visual simultaneous localisation and mapping(vSLAM) mirror localisation mapping reflection datase

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Zero-Shot Sentiment Analysis Exploring BART Models 8

Zero-Shot Sentiment Analysis Exploring BART Models

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8th IEEE/ACIS International Conference on Big Data, Cloud Computing, and Data Science, BCD 2023

作者： Kyritsis, Konstantinos Perikos, Isidoros Paraskevas, Michael University of Peloponnese Computer Technology Institute and Press "diophantus" Electrical and Computer Engineering Dept. Patras Greece University of Patras Computer Engineering and Informatics Department Patras Greece

ISBN: (纸本)9798350373615

The BART model is an advanced adaptation of transformers introduced by Facebook. It has incorporated elements from both BERT and GPT transformers, enabling significant advancements in language understanding and general speech processing. Utilizing both encoder and decoder components, BART proves versatile for various tasks, including translation, text completion, automatic sentence generation, entity recognition, sentiment analysis, and more. In this study, we focus on the study of pretrained models, BART and a modified version called distilbart, in the context of Zero-Shot Text Classification. In the experimental study we dive into the Zero-Shot technique applied to various pretrained Transformers. Our analysis demonstrates that, depending on the Model we utilize, we can achieve F1 scores of up to 88%, showcasing the model's effectiveness in discerning classes for this Sentiment Analysis problem using the Zero-Shot Text Classification technique. © 2023 IEEE.

关键词： Sentiment analysis

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ERAS-NETS: An Efficient Resource Allocation Scheme-based Nonlinear Energy Harvesting Timeslot Switching 8

ERAS-NETS: An Efficient Resource Allocation Scheme-based Non...

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8th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2023

作者： Guler, Nivine Gunes, Ali University of Technology Bahrain Department of Informatics Engineering Bahrain Istanbul Aydin University Department of Computer Engineering Turkey

ISBN: (纸本)9798350327090

In this paper, an efficient resource allocation scheme-based nonlinear energy harvesting (EH) Timeslot switching (TS) for single-input-single-output (SISO) SWIPT systems-(ERAS-NETS) is presented. The energy saturation characteristic is considered in the EH model where point-to-point (P2P) single-input single-output (P2P-SISO) SWIPT system is studied. Harvesting energy is based on Timeslot switching (TS) aiming at optimizing the average data rate where the TS ratio is a binary value (0 or 1). Hence, the problem is a nonconvex optimization problem because of the binary factor of the TS ratio. The optimization problem is solved using the Lagrange dual theorem that states that the optimal values of the Primal (P) and Dual (D) linear problem are the same if either solution is a basic feasible solution. Accordingly, the derivation of the optimal solution helps receiver to switch either to EH or information decoding (ID) based on the SNR value. Hence, the receiver will switch to EH in the districts having medium values of SNR, otherwise, the receiver will switch to ID in districts having SNR less than 5 dB or more than 25 dB. Different network performance metrics were considered in evaluating the proposed ERAS-NETS scheme in comparison with traditional state-in-the-art TS resource allocation schemes such as transmission power, distance between source and destination, pathloss exponent, and minimum required harvested energy. Simulations showed that ERAS-NETS improves energy efficiency with respect to different transmission power by 20%, 10%, and 3 % for high SNR, medium SNR, and low SNR districts, respectively. Improvement with respect to average energy efficiency versus other system performance metrics has also been noted for the proposed scheme. © 2023 IEEE.

关键词： Energy harvesting

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A novel medical image data protection scheme for smart healthcare system

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CAAI Transactions on Intelligence Technology 2024年第4期9卷 821-836页

作者： Mujeeb Ur Rehman Arslan Shafique Muhammad Shahbaz Khan Maha Driss Wadii Boulila Yazeed Yasin Ghadi Suresh Babu Changalasetty Majed Alhaisoni Jawad Ahmad School of Computer Science and Informatics Cyber Technology InstituteDe Montfort UniversityLeicesterUK Department of Biomedical Engineering University of GlasgowGlasgowUK School of Computing Engineering and the Built EnvironmentEdinburgh Napier UniversityEdinburghUK Robotics and Internet‐of‐Things Laboratory Prince Sultan UniversityRiyadhSaudi Arabia Department of Computer Science Al Ain UniversityAl AinUnited Arab Emirates Department of Computer Engineering College of Computer Science King Khalid UniversityAbhaSaudi Arabia Computer Sciences Department College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityRiyadhSaudi Arabia

The Internet of Multimedia Things(IoMT)refers to a network of interconnected multimedia devices that communicate with each other over the ***,smart healthcare has emerged as a significant application of the IoMT,particularly in the context of knowledge‐based learning *** healthcare systems leverage knowledge‐based learning to become more context‐aware,adaptable,and auditable while maintain-ing the ability to learn from historical *** smart healthcare systems,devices capture images,such as X‐rays,Magnetic Resonance *** security and integrity of these images are crucial for the databases used in knowledge‐based learning systems to foster structured decision‐making and enhance the learning abilities of ***,in knowledge‐driven systems,the storage and transmission of HD medical images exert a burden on the limited bandwidth of the communication channel,leading to data trans-mission *** address the security and latency concerns,this paper presents a lightweight medical image encryption scheme utilising bit‐plane decomposition and chaos *** results of the experiment yield entropy,energy,and correlation values of 7.999,0.0156,and 0.0001,*** validates the effectiveness of the encryption system proposed in this paper,which offers high‐quality encryption,a large key space,key sensitivity,and resistance to statistical attacks.

关键词： data analysis medical image processing security

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Classification and Regression Trees (CART) Method in the Classification Process of Blood Control Candidates 9

Classification and Regression Trees (CART) Method in the Cla...

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9th International Conference on Wireless and Telematics, ICWT 2023

作者： Ramdania, Diena Rauda Slamet, Cepy Lutfiyah, Hasna Fairuz Irfan, Mohamad Zulfikar, Wildan Budiawan Harika, Maisevli Uin Sunan Gunung Djati Department of Informatics Bandung Indonesia Politeknik Negeri Bandung Computer Engineering and Informatics Department Bandung Indonesia

ISBN: (纸本)9798350305029

The classification of blood donor candidates is a crucial process that requires thorough health checks and assessments. Implementing a reliable and efficient classification system for blood donor candidates is essential to ensure the safety and well-being of both the donor and the recipient. This study focuses on implementing the Classification and Regression Trees (CART) method in the classification process of blood control candidates. Given the complex series of health checks involved in the process, which includes age, weight, blood pressure, pulse rate, and blood tests (hemoglobin, blood type, and rhesus), a reliable and efficient classification system is necessary. This research demonstrates the successful implementation of the CART method in developing an expert classification system for blood donor candidates. The system achieved an accuracy value of 98.03%, making it a highly effective and reliable tool for improving blood control candidate classification accuracy and efficiency. This research has significant implications for enhancing the safety and success of blood transfusions. © 2023 IEEE.

关键词： Expert systems

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A Two-Pronged Approach to Security of Discrete-Event Systems

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Journal of Systems Science & Complexity 2025年第1期38卷 178-209页

作者： MATSUI Shoma RUDIE Karen CAI Kai Department of Electrical and Computer Engineering&the Ingenuity Labs Research Institute Queen's UniversityKingston K7L 3N6Canada Department of Core Informatics Osaka Metropolitan UniversityOsaka 545-0051Japan

This paper investigates a security problem of simultaneously addressing two types of attacks:Eavesdropping and *** authors model the target system as a discrete-event system(DES)with subsets of concealable events and protectable events,in order to make the proposed methodology applicable to various practical systems and employ two existing works of DES security:Degree of opacity and state ***,the authors consider that all protectable events are observable,and some observable events are *** addition,protectable events cannot be protected once they are *** such a constraint,the goal is to figure out which events to conceal and which transitions to protect so that the prescribed requirements of degree of opacity and state protection are *** this work the authors decide which events to conceal as all transitions of a given event label are concealed or not *** proposed problem formulation also requires a solution to only involve absolutely necessary protectable events in order for the system to avoid superfluous protection *** authors first examine a general version of our security problem with an intuitive algorithm to compute acceptable solutions,and then present a special version which results in a reduced computation time compared to the general version.

关键词： Degree of opacity discrete-event systems security state protection

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Utilizing Edge Device and Streamlit for Comparative Evaluation of CLAHE-Based Underwater Image Enhancement Techniques 13

Utilizing Edge Device and Streamlit for Comparative Evaluati...

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13th IEEE Global Conference on Consumer Electronic, GCCE 2024

作者： Amalia, Nurul Asmi Afira, Aida Ulfa, Maria Muchtar, Kahlil Universitas Syiah Kuala Department of Informatics Aceh Indonesia Universitas Syiah Kuala Department of Electrical and Computer Engineering Indonesia

ISBN: (纸本)9798350355079

This study presents an edge-based system for underwater image enhancement using CLAHE and its fusion with various techniques. Utilizing the NVIDIA Jetson Orin Nano and the Streamlit framework, the system processes images in real-time. The enhancement methods include CLAHE, Fusion of CLAHE and USM, Fusion of CLAHE and HEF, and Blending CLAHE with Percentile Techniques. Tested on real underwater images, these methods demonstrate significant improvements in UIQM and UCIQE scores while reducing LOE. This combination boosts image quality while maintaining natural lightness, making it suitable for marine exploration, underwater robotics, and environmental monitoring. A demo of our image enhancement web app can be found here: https://***/EDJxPKv1LSs. © 2024 IEEE.

关键词： Underwater imaging

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Binary to Decimal Conversion and Subnetting Calculations using Augmented Reality 9

Binary to Decimal Conversion and Subnetting Calculations usi...

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9th IEEE International Conference on Computing, engineering and Design, ICCED 2023

作者： Ramdania, Diena Rauda Alam, Cecep Nurul Ghuswari, Afif Hani Irfan, Mohamad Atmadja, Aldy Rialdy Harika, Maisevli UIN Sunan Gunung Djati Department of Informatics Bandung Indonesia Politeknik Negeri Bandung Computer Engineering and Informatics Department Bandung Indonesia

ISBN: (纸本)9798350370126

This paper studies markerless augmented reality applications for displaying digital objects on different colored surfaces under varying lighting conditions and tracking angles. The study aimed to evaluate the application's effectiveness in accurately displaying digital objects. The testing was conducted in bright and dark light settings, with tracking angles of 45° and 90°. The results showed that surfaces with a texture in dark or bright colors, especially patterned surfaces, yielded optimal results in displaying digital objects in both lighting conditions. However, plain bright surfaces and surfaces without patterns were not practical for displaying digital objects. The angle of the tracking device and the presence of shadows significantly impacted the quality of the displayed objects. The tracking distance did not significantly affect the display quality. These findings provide valuable insights for enhancing the performance and usability of markerless augmented reality applications, guiding the selection of suitable surfaces and lighting conditions for optimal display outcomes. © 2023 IEEE.

关键词： Augmented reality

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Enhanced Sound Recognition and Classification Through Spectrogram Analysis, MEMS Sensors, and PyTorch: A Comprehensive Approach 19th

Enhanced Sound Recognition and Classification Through Spectr...

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19th EAI International Conference on Collaborative Computing: Networking, Applications and Worksharing, CollaborateCom 2023

作者： Spournias, Alexandros Nanos, Nikolaos Faliagka, Evanthia Antonopoulos, Christos Voros, Nikolaos Keramidas, Giorgos Electrical and Computer Engineering Department University of the Peloponnese Patra Greece School of Informatics Aristotle University of Thessaloniki Thessaloniki Greece

ISBN: (纸本)9783031545207

The importance of sound recognition and classification systems in various fields has led researchers to seek innovative methods to address these challenges. In this paper, the authors propose a concise yet effective approach for sound recognition and classification by combining spectrogram analysis, Micro-Electro-Mechanical Systems (MEMS) sensors, and the Pytorch deep learning framework. This method utilizes the rich information in audio signals to develop a robust and accurate sound recognition and classification system. The authors outline a three-stage process: data acquisition, feature extraction, and classification. MEMS sensors are employed for data acquisition, offering advantages such as reduced noise, low power consumption, and enhanced sensitivity compared to traditional microphones. The acquired audio signals are then preprocessed and converted into spectrograms, visually representing the audio data’s frequency, amplitude, and temporal attributes. During feature extraction, the spectrograms are analyzed to extract significant features conducive to sound recognition and classification. The classification task is performed using a custom deep learning model in Pytorch, leveraging modern neural networks’ pattern recognition capabilities. The model is trained and validated on a diverse dataset of audio samples, ensuring its proficiency in recognizing and classifying various sound types. The experimental results demonstrate the effectiveness of the proposed method, surpassing existing techniques in sound recognition and classification performance. By integrating spectrogram analysis, MEMS sensors, and Pytorch, the authors present a compact yet powerful sound recognition system with potential applications in numerous domains, such as predictive maintenance, environmental monitoring, and personalized voice-controlled devices. © ICST Institute for computer Sciences, Social informatics and Telecommunications engineering 2024.

关键词： Data acquisition

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