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Field Robotics 2025年 4卷 138-181页

作者： Victoria L. Preston Genevieve E. Flaspohler John W. Fisher Anna P. M. Michel Nicholas Roy Applied Ocean Physics and Engineering Massachusetts Institute of Technology and Woods Hole Oceanographic Institution Joint Program Cambridge MA 02139 Electrical Engineering and Computer Science Massachusetts Institute of Technology and Woods Hole Oceanographic Institution Joint Program Cambridge MA 02139 Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02139 Applied Ocean Physics and Engineering Woods Hole Oceanographic Institution Woods Hole MA 02543

Mobile robots are increasingly used to collect valuable in situ samples during scientific expeditions. However, many phenomena of scientific interest—deep-sea hydrothermal plumes, algal blooms, warm-core eddies, and lava flows—are spatiotemporal distributions that evolve on spatial and temporal scales that complicate sample collection. Here, we consider the problem of charting the space-time dynamics of deep-sea hydrothermal plumes with the state-of-the-art autonomous underwater vehicle (AUV) Sentry. In the hydrothermal plume charting problem, the plume state is driven by complicated and unobserved dynamics in the deep sea. To effectively sample the moving plume, an autonomy system must infer plume dynamics from sparse, point observations, while respecting operational constraints of AUV Sentry that restrict the set of possible trajectories to nonadaptive, uniform-coverage patterns. We frame the plume charting problem as a sequential decision-making problem and formulate a mission planner PHORTEX (PHysically-informed Operational Robotic Trajectories for Expeditions) that strategically designs full mission trajectories for Sentry, where each mission plan is informed by the observations of the last. PHORTEX is composed of a trajectory optimizer, which maximizes expected samples collected within a moving plume, and PHUMES (PHysically-informed Uncertainty Models for Environment Spatiotemporality), a modeling framework that leverages an embedded simulator of idealized plume physics as an inductive bias to enable dynamics learning from extreme partial observations and a few Sentry deployments. In both simulation and in field trials at a hydrothermal site in the Gulf of California, we demonstrate that Sentry using PHORTEX learns to track a moving hydrothermal plume and gather samples that significantly improve upon baseline spatial and temporal diversity for use in downstream science tasks.

关键词： Trajectory Sensors Oceans Vehicle dynamics Robot sensing systems Adaptation models Spatiotemporal phenomena Decision making Marine robots Environmental monitoring Mobile robots

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Balanced Spherical Grid for Egocentric View Synthesis

arXiv

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arXiv 2023年

作者： Choi, Changwoon Kim, Sang Min Kim, Young Min Dept. of Electrical and Computer Engineering Seoul National University Korea Republic of Interdisciplinary Program in Artificial Intelligence INMC Seoul National University Korea Republic of

We present EgoNeRF, a practical solution to reconstruct large-scale real-world environments for VR assets. Given a few seconds of casually captured 360 video, EgoNeRF can efficiently build neural radiance fields. Motivated by the recent acceleration of NeRF using feature grids, we adopt spherical coordinate instead of conventional Cartesian coordinate. Cartesian feature grid is inefficient to represent large-scale unbounded scenes because it has a spatially uniform resolution, regardless of distance from viewers. The spherical parameterization better aligns with the rays of egocentric images, and yet enables factorization for performance enhancement. However, the naïve spherical grid suffers from singularities at two poles, and also cannot represent unbounded scenes. To avoid singularities near poles, we combine two balanced grids, which results in a quasi-uniform angular grid. We also partition the radial grid exponentially and place an environment map at infinity to represent unbounded scenes. Furthermore, with our resampling technique for grid-based methods, we can increase the number of valid samples to train NeRF volume. We extensively evaluate our method in our newly introduced synthetic and real-world egocentric 360 video datasets, and it consistently achieves state-of-the-art performance. © 2023, CC BY.

关键词： Poles

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Calibrating Panoramic Depth Estimation for Practical Localization and Mapping

arXiv

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arXiv 2023年

作者： Kim, Junho Lee, Eun Sun Kim, Young Min Dept. of Electrical and Computer Engineering Seoul National University Korea Republic of Interdisciplinary Program in Artificial Intelligence and INMC Seoul National University Korea Republic of

The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can serve as a powerful and light-weight input for a wide range of downstream tasks requiring 3D information. While panoramic images can easily capture the surrounding context from commodity devices, the estimated depth shares the limitations of conventional image-based depth estimation;the performance deteriorates under large domain shifts and the absolute values are still ambiguous to infer from 2D observations. By taking advantage of the holistic view, we mitigate such effects in a self-supervised way and fine-tune the network with geometric consistency during the test phase. Specifically, we construct a 3D point cloud from the current depth prediction and project the point cloud at various viewpoints or apply stretches on the current input image to generate synthetic panoramas. Then we minimize the discrepancy of the 3D structure estimated from synthetic images without collecting additional data. We empirically evaluate our method in robot navigation and map-free localization where our method shows large performance enhancements. Our calibration method can therefore widen the applicability under various external conditions, serving as a key component for practical panorama-based machine vision systems. Code is available through the following link: https://***/82magnolia/panoramic-depth-calibration. © 2023, CC BY.

关键词： Robots

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LDL: Line Distance Functions for Panoramic Localization

arXiv

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arXiv 2023年

作者： Kim, Junho Choi, Changwoon Jang, Hojun Kim, Young Min Dept. of Electrical and Computer Engineering Seoul National University Korea Republic of Interdisciplinary Program in Artificial Intelligence and INMC Seoul National University Korea Republic of

We introduce LDL, a fast and robust algorithm that localizes a panorama to a 3D map using line segments. LDL focuses on the sparse structural information of lines in the scene, which is robust to illumination changes and can potentially enable efficient computation. While previous line-based localization approaches tend to sacrifice accuracy or computation time, our method effectively observes the holistic distribution of lines within panoramic images and 3D maps. Specifically, LDL matches the distribution of lines with 2D and 3D line distance functions, which are further decomposed along principal directions of lines to increase the expressiveness. The distance functions provide coarse pose estimates by comparing the distributional information, where the poses are further optimized using conventional local feature matching. As our pipeline solely leverages line geometry and local features, it does not require costly additional training of line-specific features or correspondence matching. Nevertheless, our method demonstrates robust performance on challenging scenarios including object layout changes, illumination shifts, and large-scale scenes, while exhibiting fast pose search terminating within a matter of milliseconds. We thus expect our method to serve as a practical solution for line-based localization, and complement the well-established point-based paradigm. The code for LDL is available through the following link: https://***/82magnolia/ panoramic-localization. © 2023, CC BY.

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DCGAN-based Medical Image Augmentation to Improve ELM Classification Performance 11

DCGAN-based Medical Image Augmentation to Improve ELM Classi...

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11th IEEE International Conference on Communication, Networks and Satellite, COMNETSAT 2022

作者： Rando Setiawan, Noor Akhmad Permanasari, Adhistya Erna Rulaningtyas, Riries Suksmono, Andriyan Bayu Sitanggang, Imas Sukaesih Universitas Gadjah Mada Dept. of Electrical and Information Engineering Yogyakarta Indonesia Biomedical Engineering Program Dept. of Physics Universitas Airlangga Surabaya Indonesia Institut Teknologi Bandung School of Electrical Engineering and Informatics Bandung Indonesia Ipb University Department of Computer Science Bogor Indonesia

ISBN: (纸本)9781665460309

Cervical cancer is one of the deadliest diseases in women. One of the cervical cancer screening methods is pap smear method. However, using a pap smear method to detect cervical cancer takes a long time for a pathologist to diagnose. Hence, a rapid development of medical computerization for early detection to get the results quickly is needed. This paper proposes synthetic data augmentation by using Deep Convolutional Generative Adversarial Network (DCGAN) to increase number of pap smear samples in dataset. Gray Level Co-occurrence Matrix (GLCM) is employed to extract features from dataset. Classification of 3 classes which are Adenocarcinoma, High-Grade Squamous Intraepithelial Lesion (HSIL), and Squamous Cell Carcinoma (SCC) is conducted using Extreme Learning Machine (ELM). The result shows that the addition of synthetic data improves the performance of ELM with the accuracy of 90%. This accuracy is better than the accuracy of ELM using only the original dataset which is 85%. © 2022 IEEE.

关键词： Generative adversarial networks

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Outage, Capacity, and Error Performance of Downlink RSMA-based Systems: Analysis and Resource Optimization

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IEEE Transactions on Communications 2025年

作者： Vu, Thai-Hoc Da Costa, Daniel Benevides Kim, Sunghwan Pham, Quoc-Viet University of Ulsan Department of Electrical Electronic and Computer Engineering Ulsan Korea Republic of Interdisciplinary Research Center for Communication Systems and Sensing Department of Electrical Engineering Dhahran31261 Saudi Arabia Kyonggi University School of Electronic Engineering Kyonggi Korea Republic of University of Dublin School of Computer Science and Statistics Trinity College Dublin Dublin 2 D02PN40 Ireland

This paper comprehensively investigates the performance of downlink multi-user rate-splitting multiple access (RSMA) networks under Nakagami-m fading channels. We first develop the mathematical outage probability (OP) and ergodic capacity (EC) frameworks, deriving exact expressions for both, along with asymptotic analysis in high signal-to-noise ratio (SNR) and low-rate regions, which serve as the foundation for deducing the approximate and maximal energy-reliability and energy-spectral formulas. To enhance system performance, we tackle the non-convex problems of jointly optimizing common and private power allocation (PA) coefficients to minimize the maximal OP performance. Moreover, we also delve into optimizing PA coefficients and rate-splitting factors concurrently to maximize the ergodic sum capacity (ESC). Addressing the influence of modulation schemes on user error rates, we introduce mathematical frameworks for symbol error rate (SER) considering four combined modulation schemes based on binary phase-shift keying (BPSK) and quadrature-phase shift keying (QPSK), the whole cases are quantified in terms of exact and asymptotic manners. Furthermore, we present a straightforward approach to optimize the PA coefficients to minimize the maximal SER performance. Finally, Monte-Carlo simulations are presented to validate our developed frameworks and optimization solutions. © 1972-2012 IEEE.

关键词： Signal to noise ratio

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Semantic Communications for Artificial Intelligence Generated Content (AIGC) Toward Effective Content Creation

arXiv

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arXiv 2023年

作者： Liu, Guangyuan Du, Hongyang Niyato, Dusit Kang, Jiawen Xiong, Zehui Kim, Dong In Shen, Xuemin The School of Computer Science and Engineering The Energy Research Institute @ NTU Interdisciplinary Graduate Program Nanyang Technological University Singapore The School of Computer Science and Engineering Nanyang Technological University Singapore The School of Automation Guangdong University of Technology China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore The Department of Electrical and Computer Engineering Sungkyunkwan University Korea Republic of The Department of Electrical and Computer Engineering University of Waterloo Canada

Artificial Intelligence Generated Content (AIGC) Services have significant potential in digital content creation. The distinctive abilities of AIGC, such as content generation based on minimal input, hold huge potential, especially when integrating with semantic communication (SemCom). In this paper, a novel comprehensive conceptual model for the integration of AIGC and SemCom is developed. Particularly, a content generation level is introduced on top of the semantic level that provides a clear outline of how AIGC and SemCom interact with each other to produce meaningful and effective content. Moreover, a novel framework that employs AIGC technology is proposed as an encoder and decoder for semantic information, considering the joint optimization of semantic extraction and evaluation metrics tailored to AIGC services. The framework can adapt to different types of content generated, the required quality and the semantic information utilized. By employing a Deep Q Network (DQN), a case study is presented that provides useful insights into the feasibility of the optimization problem and its convergence characteristics. © 2023, CC BY.

关键词： Wireless networks

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Analyzing the Potential Benefits of Data Mining for Customer Relationship Management 1

Analyzing the Potential Benefits of Data Mining for Customer...

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1st IEEE International Conference on Emerging Research in Computational science, ICERCS 2023

作者： Aravind, A.R. Katikar, Shilpa M. Acharjya, Kalyan Ezhilarasan, G. Yadav, Surendra Mishra, Abhinav Prince Shri Venkateshwara Padmavathy Engineering College Department of Electronics and Communication Engineering Chennai127 India Vishwakarma Institute of Information Technology Department of Computer Engineering Pune India Maharishi University of Information Technology Maharishi School of Engineering and Technology Uttar Pradesh India Faculty of Engineering and Technology Department of Electrical and Electronics Engineering Karnataka Bangalore India Vivekananda Global University Department of Computer Science & Application Jaipur India Chitkara University Institute of Engineering and Technology Chitkara University Centre of Interdisciplinary Research in Business and Technology Punjab India

ISBN: (纸本)9798350359756

Data mining for client dating control (CRM) is figuring out patterns and traits in customer records to inform selections about product imparting, pricing, sales, advertising and marketing, and different consumer techniques. Companies can use automated records mining strategies to outline client profiles, section clients, and better recognize purchasing conduct. Through knowledge of client conduct, corporations can target their customers greater correctly, grow revenue, and enhance customer satisfaction and loyalty. The advantages of fact mining for CRM are several, which include spotting purchaser needs and options, improving marketing effectiveness, increasing client acquisition, and boosting sales. Additionally, records mining can enable an employer to perceive lost sales possibilities, lessen operational costs, and optimize customer retention efforts. Essential data mining allows CRM-targeted organizations to recognize clients higher, optimize operations, and broaden strategically centered initiatives to improve consumer loyalty. © 2023 IEEE.

关键词： Data mining

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Investigating the Potential of Machine Learning for Enhancing Real-Time Data Analysis 3

Investigating the Potential of Machine Learning for Enhancin...

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3rd International Conference on Smart Generation Computing, Communication and Networking, SMART GENCON 2023

作者： Singh, Khushboo Mahalakshmi, V. Chavhan, Pranali G. Garg, Prateek Sahoo, Girija Shankar Sukumar, R. Vivekananda Global University Department of Computer Science & Engineering Jaipur India Prince Shri Venkateshwara Padmavathy Engineering College Department of Electrical and Electronics Engineering Chennai127 India Vishwakarma Institute of Information Technology Department of Computer Engineering Pune India Chitkara University Institute of Engineering and Technology Chitkara University Centre of Interdisciplinary Research in Business and Technology Punjab India Maharishi School of Engineering and Technology Maharishi University of Information Technology Uttar Pradesh India Department of Electronics and Communication Engineering Karnataka Ramnagar562112 India

ISBN: (纸本)9798350319125

This abstract discusses the capability of system learning to serve as a device for real-time facts evaluation and its ability to decorate the accuracy of the resulting insights. Specifically, it examines the advantages of computerized function engineering and the way system gaining knowledge of primarily based tools may be leveraged to offer businesses with actionable data insights extra efficaciously than conventional strategies. It additionally looks at a few rising technologies, inclusive of deep neural networks, and their capability to push the limits of information analysis in real-time, and also discusses how improvements in allotted computing can similarly supplement the impact of gadget studying gear. Eventually, this summary additionally affords some demanding situations associated with actual-time evaluation of massive volumes of facts, and some advised answers. © 2023 IEEE.

关键词： Deep neural networks

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Implementing Long Short-Term Memory Network for Enhancing Hyper Spectral Time Series Modeling

Implementing Long Short-Term Memory Network for Enhancing Hy...

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2023 IEEE International Conference on Paradigm Shift in Information Technologies with Innovative Applications in Global Scenario, ICPSITIAGS 2023

作者： Eti, Muktha Shekhawat, Jyoti Nagpal, Manish Srisainath, R. Chavhan, Pranali G. Yadav, Rakesh Kumar Faculty of Engineering and Technology Department of Electrical and Electronics Engineering Karnataka Bangalore India Vivekananda Global University Department of Computer Science & Application Jaipur India Centre of Interdisciplinary Research in Business and Technology Chitkara University Institute of Engineering and Technology Chitkara University Punjab India Prince Shri Venkateshwara Padmavathy Engineering College Department of Mechanical Engineering Chennai127 India Vishwakarma Institute of Information Technology Department of Computer Engineering Pune India Maharishi School of Engineering and Technology Maharishi University of Information Technology Uttar Pradesh India

ISBN: (纸本)9798350329773

This take a look at proposes using lengthy quick-time period reminiscence (LSTM) networks as a tool for enhancing the accuracy of Hyper Spectral Time series (HSTS) fashions. via the use of this recurrent neural community approach, the model can account for the temporal dating among the hyper spectral spectral time collection variables. additionally, with this utility, the version can research from the spectral time series over a longer time period. This study examined the efficacy of the carried out LSTM network with the aid of comparing the results to the Hyper Spectral Time collection model performance performed prior to using this method. The effects recommend that the addition of the LSTM network accelerated the accuracy of the version through about 25%. This generation has the potential to substantially beautify the accuracy of temporal records inside the discipline of faraway sensing records analysis. In conclusion, this examine indicates that LSTM networks are a promising tool for boosting the predictive energy of HSTS models. long quick-term memory Networks (LSTM) are a type of Recurrent Neural Networks (RNNs) that have been applied to many duties in synthetic Intelligence including language information, herbal language processing, and image processing. more recently, they had been used to enhance hyper spectral time series modeling. The shape of LSTM permits it cope with and keep lengthy-term sequences of statistics, making it particularly suitable for modeling hyper-spectral time series. At whenever step, an LSTM community takes as input a vector representing the hyper-spectral values, and outputs a vector which represents the intermediate representation of the time series. these intermediate representations are then used to generate the output at every next time step. LSTM networks are for his or her ability to capture lengthy-time period dependencies, and because of their structure, they are additionally nicely-appropriate to hyper-spectral time collecti

关键词： Time series

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